WO2023201574A1 - Control method for unmanned aerial vehicle, image display method, unmanned aerial vehicle, and control terminal - Google Patents

Abstract

A control method for an unmanned aerial vehicle, an image display method, an unmanned aerial vehicle, and a control terminal. The unmanned aerial vehicle can be in communication connection with a control terminal, and the unmanned aerial vehicle comprises a gimbal, which is used for carrying an image collection apparatus. The control method for an unmanned aerial vehicle comprises: acquiring a target object to be photographed and a preset working mode, wherein the working mode comprises a pre-flight trajectory and gimbal control information of an unmanned aerial vehicle, the pre-flight track being set by a user, and the gimbal control information also being set by the user; automatically controlling, according to the pre-flight trajectory, the unmanned aerial vehicle to move; and automatically controlling, according to the gimbal control information, a gimbal and an image collection apparatus to photograph the target object. The technical solution provided in the present embodiment can realize automatic decoupling control on an unmanned aerial vehicle and a gimbal, such that the degree of freedom of photographing is higher; and a more flexible and richer experience can be provided for a user, which is conducive to bringing about a filming effect that is more interesting and has a stronger visual impact, thereby greatly enriching photographing effects that can be achieved by the unmanned aerial vehicle.

Description

UAV control method, image display method, UAV and control terminal Technical field

Embodiments of the present invention relate to the technical field of drones, and in particular, to a control method for a drone, an image display method, a drone and a control terminal.

Background technique

QuickShot is a function that can assist users to obtain entertaining video clips automatically and quickly. With the rapid development of drone technology, the QuickShot function is becoming more and more popular among users. Currently, in the process of implementing the QuickShot function, the gimbal movement set on the drone is relatively simple. For example, during the process of shooting with the drone, the gimbal direction is always static, which does not fully utilize the cloud platform. The movement of each axis on the stage creates rich shooting effects, thus limiting the shooting effects that the drone can achieve.

Contents of the invention

Embodiments of the present invention provide a UAV control method, an image display method, a UAV and a control terminal, which effectively realizes automatic decoupling control of the UAV and the cloud platform, so that when using the UAV When shooting with a drone, you have a higher degree of freedom in shooting, thus enriching the shooting effects that the drone can achieve.

The first aspect of the present invention is to provide a control method for a drone, the drone can communicate with a control terminal, the drone includes a pan/tilt for carrying an image acquisition device, the method includes :

Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also Set by user;

Automatically control the UAV to move according to the pre-flight trajectory;

The pan-tilt and the image acquisition device are automatically controlled to photograph the target object according to the pan-tilt control information.

The second aspect of the present invention is to provide an unmanned aerial vehicle that can communicate with a control terminal. The unmanned aerial vehicle includes a cloud platform for carrying an image acquisition device; the unmanned aerial vehicle includes:

Memory, used to store computer programs;

A processor configured to run a computer program stored in the memory to:

Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also Set by user;

Automatically control the UAV to move according to the pre-flight trajectory;

The pan-tilt and the image acquisition device are automatically controlled to photograph the target object according to the pan-tilt control information.

A third aspect of the present invention is to provide an unmanned aerial vehicle system, including:

The drone described in the second aspect above;

A control terminal is communicatively connected to the UAV and is used to control the UAV.

The fourth aspect of the present invention is to provide a control method for an unmanned aerial vehicle, which is applied to a control terminal. The control terminal is used to control an unmanned aerial vehicle. The unmanned aerial vehicle includes a cloud for carrying an image acquisition device. Taiwan, the method includes:

Display drone trajectory selection controls and gimbal control controls;

Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone;

PTZ control information is generated based on the user's operation of the PTZ control control, and the PTZ control information is used to control the PTZ and the image acquisition device to perform shooting operations on the target object;

The pre-flight trajectory and the gimbal control information are sent to the UAV to automatically control the UAV.

The fifth aspect of the present invention is to provide a control terminal, the control terminal is used to control a drone, the drone includes a pan/tilt for carrying an image acquisition device; the control terminal includes:

Memory, used to store computer programs;

A processor configured to run a computer program stored in the memory to:

Display drone trajectory selection controls and gimbal control controls;

Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone;

PTZ control information is generated based on the user's operation of the PTZ control control, and the PTZ control information is used to control the PTZ and the image acquisition device to perform shooting operations on the target object;

The pre-flight trajectory and the gimbal control information are sent to the UAV to automatically control the UAV.

The sixth aspect of the present invention is to provide an unmanned aerial vehicle system, including:

drone;

The control terminal described in the fifth aspect is connected to the drone for communication and is used to control the drone.

The seventh aspect of the present invention is to provide an image display method, applied to a control terminal, the control terminal is used to control an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a pan/tilt for carrying an image acquisition device , the method includes:

Obtain real-time collected images of the image collecting device;

Determine the device posture of the image acquisition device and the terminal posture of the control terminal;

Based on the device posture and the terminal posture, an image display posture corresponding to the real-time collected image is determined to ensure that the image picture seen by the user is in a forward direction.

An eighth aspect of the present invention is to provide an image display device, applied to a control terminal, the control terminal is used to control a drone, wherein the drone includes a pan/tilt for carrying an image acquisition device ;include:

Memory, used to store computer programs;

A processor configured to run a computer program stored in the memory to:

Obtain real-time collected images of the image collecting device;

Determine the device posture of the image acquisition device and the terminal posture of the control terminal;

Based on the device posture and the terminal posture, an image display posture corresponding to the real-time collected image is determined to ensure that the image picture seen by the user is in a forward direction.

A ninth aspect of the present invention is to provide an unmanned aerial vehicle system, including:

drone;

The image display device described in the eighth aspect is communicatively connected with the drone and is used to obtain the video to be displayed through the drone.

A tenth aspect of the present invention is to provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used for the first aspect. The control method of the drone described above.

An eleventh aspect of the present invention is to provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used in the fourth aspect. The control method of the drone.

A twelfth aspect of the present invention is to provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used in the seventh aspect. The image display method.

The UAV control method, image display method, UAV and control terminal provided by the embodiments of the present invention obtain the target object to be photographed and the preset working mode, since the working mode may include the UAV's Pre-flight trajectory and gimbal control information, and then the UAV can be automatically controlled to move according to the pre-flight trajectory, and the gimbal and the image acquisition device can be automatically controlled according to the gimbal control information. The target object is photographed, thereby effectively realizing the automatic decoupling control operation of the drone, gimbal, and image acquisition device. In this way, when the drone is used for shooting operations, the degree of freedom in shooting is higher, and it can provide The user's shooting provides a more flexible and rich experience, which is conducive to bringing more interesting and visually impactful film effects. This greatly enriches the shooting effects that drones can achieve and further improves the practicality of this method. , which is conducive to market promotion and application.

Description of the drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:

Figure 1 is a schematic diagram of the principle of a UAV control method provided by an embodiment of the present invention;

Figure 2 is a schematic flowchart of a UAV control method provided by an embodiment of the present invention;

Figure 3 is a schematic flowchart of obtaining a preset working mode according to an embodiment of the present invention;

Figure 4 is a schematic diagram 1 of obtaining the shooting mode of the gimbal provided by an embodiment of the present invention;

Figure 5 is a schematic diagram 2 of obtaining the shooting mode of the gimbal according to an embodiment of the present invention;

Figure 6 is a schematic diagram of the pre-flight trajectory and target object provided by the embodiment of the present invention;

Figure 7 is a schematic diagram of a shooting mode of a target object and a pan/tilt provided by an embodiment of the present invention;

Figure 8 is a schematic diagram 1 of recommending matching shooting modes to users according to an embodiment of the present invention;

Figure 9 is a schematic diagram 2 of recommending matching shooting modes to users according to an embodiment of the present invention;

Figure 10 is a schematic flow chart of another UAV control method provided by an embodiment of the present invention;

Figure 11 is a schematic flow chart of yet another UAV control method provided by an embodiment of the present invention;

Figure 12 is a schematic diagram of obtaining a pre-flight trajectory determined based on user selection provided by an embodiment of the present invention;

Figure 13 is a schematic diagram showing the pre-flight trajectory on a map provided by an embodiment of the present invention;

Figure 14 is a schematic flowchart of yet another UAV control method provided by an embodiment of the present invention;

Figure 15 is a schematic diagram showing a drone trajectory selection control and a pan/tilt control control provided by an embodiment of the present invention;

Figure 16 is a schematic flow chart of yet another UAV control method provided by an embodiment of the present invention;

Figure 17 is a schematic flow chart of another UAV control method provided by an embodiment of the present invention;

Figure 18 is a schematic flowchart of yet another UAV control method provided by an embodiment of the present invention;

Figure 19 is a schematic flowchart of an image display method provided by an embodiment of the present invention;

Figure 20 is a schematic diagram of a control terminal displaying real-time captured images provided by an embodiment of the present invention;

Figure 21 is a schematic diagram of displaying real-time captured images provided by an embodiment of the present invention;

Figure 22 is a schematic flow chart of a UAV control method provided by an application embodiment of the present invention;

Figure 23 is a schematic diagram 1 of selecting a target provided by an application embodiment of the present invention;

Figure 24 is a schematic diagram 2 of target selection provided by an application embodiment of the present invention;

Figure 25 is a schematic diagram of banner shooting provided by the application embodiment of the present invention;

Figure 26 is a schematic diagram of horizontal and vertical shooting provided by the application embodiment of the present invention;

Figure 27 is a schematic diagram of vertical shooting provided by the application embodiment of the present invention;

Figure 28 is a process diagram of displaying the captured video in the prior art;

Figure 29 is a process diagram for displaying captured videos provided by an application embodiment of the present invention;

Figure 30 is a schematic diagram 1 of displaying a captured video provided by an application embodiment of the present invention;

Figure 31 is a schematic diagram 2 of displaying the captured video provided by the application embodiment of the present invention;

Figure 32 is a schematic diagram 1 of the rotation prompt information provided by the application embodiment of the present invention;

Figure 33 is a schematic diagram 2 of the rotation prompt information provided by the application embodiment of the present invention;

Figure 34 is a schematic structural diagram of a drone provided by an embodiment of the present invention;

Figure 35 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention;

Figure 36 is a schematic structural diagram of an image display device provided by an embodiment of the present invention;

Figure 37 is a schematic structural diagram of an unmanned aerial vehicle system provided by an embodiment of the present invention;

Figure 38 is a schematic structural diagram 2 of an unmanned aerial vehicle system provided by an embodiment of the present invention;

Figure 39 is a schematic structural diagram three of an unmanned aerial vehicle system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.

In order to understand the specific implementation process of the technical solution in this embodiment, the relevant technology is briefly explained below:

QuickShot is a function that can assist users to obtain entertaining video clips automatically and quickly. With the rapid development of drone technology, the QuickShot function is becoming more and more popular among users. At present, there are already drones that can realize automatic camera shooting with QuickShot function. However, the existing QuickShot function and similar technologies have the following shortcomings:

(1) The gimbal has a single movement, and the gimbal movement is strongly bound to the flight trajectory of the drone and cannot be freely combined.

Due to the limitations of the gimbal configuration of the drone and the user's shooting needs, most of the camera movements realized by the existing QuickShot function are limited to shooting preset (for example: 5 to 6 camera movements), horizontal screen, There is no gimbal action content, that is, the user cannot flexibly set the camera orientation (horizontal or vertical screen) and gimbal action (stationary or moving) during the shooting process while specifying the flight path. The gimbal action is relatively single.

In addition, the existing flight trajectory is strongly bound to the direction of the gimbal or the movement of the gimbal. For example: in the fade mode, the drone can fly in the diagonal direction behind the target, while the gimbal is fixed horizontally. , it is not possible to freely select the gimbal action for a certain flight path of the drone, which brings certain limitations and constraints to the user's creation.

(2) When playing back the shooting information obtained by the drone through the mobile terminal, the user’s viewing experience is not good.

After the video is obtained through the drone, the video can be played and viewed through the mobile terminal. As users of mobile social media platforms gradually become mainstream, watching vertical screen video content with handheld hands has become a habit of a considerable proportion of viewers. Since the Quickshot mode of the drone only supports horizontal screen display, when the original horizontally shot content is viewed in the vertical screen, there will be large black borders at the top and bottom of the screen. Compared with the native vertical content that can fill the screen, the look and feel is different. A certain discount. And if you use cropping to cut horizontal screen content into vertical screen content, the loss of picture clarity will be greater, which will also affect the look and feel.

(3) The current camera movement effect does not fully highlight the contrast between the subject and the environment.

When performing shooting operations, the camera movement effect of giving priority to the subject (character) and then explaining the environment can often meet the user's needs. For targets such as a single figure, the outline of the target can be abstractly regarded as For vertical graphics, at this time, human-like objects are more suitable to be displayed using vertical banners, while the environment is naturally more suitable to be displayed using banners. In the existing technical solution, a banner is uniformly used for shooting. During the entire shooting process, the target object occupies a smaller proportion of the screen, and the environment occupies a larger proportion of the screen, thus failing to achieve the effect of highlighting the target object more, and failing to communicate with the user. The composition when describing the environment creates enough contrast. It can be seen that the look and feel of the shooting needs to be further improved.

(4) There is no solution for image transmission screen display that switches between horizontal and vertical pan/tilts.

When the gimbal movement is applied to QuickShot shooting, there is currently no camera movement effect for gimbal movements such as "horizontal and vertical switching". For gimbal movements such as "horizontal and vertical switching", if the existing solution is directly used, in the first-person main perspective (First Person View, referred to as FPV) When observing the screen content in the image transmission, there will be a state stage where the angle of the roll axis of the screen does not match the direction of the display screen, which can easily have a negative impact on the user's observation of the screen content.

In order to solve the above technical problems, this embodiment provides a UAV control method, an image display method, a UAV and a control terminal. Specifically, the control method of the UAV can realize the decoupling control operation between the pre-flight trajectory, the gimbal orientation, and the gimbal movement, thereby making the combination of the pre-flight trajectory, the gimbal orientation, and the gimbal movement more flexible. High, users can freely match the flight trajectory and the gimbal orientation and movements during shooting according to environmental conditions and expected effects, which can achieve more arbitrary creations and richer film effects.

In addition, this embodiment can also realize a new QuickShot shooting lens movement. During the shooting process, the gimbal can gradually rotate from vertical to horizontal, and combined with the corresponding pre-flight trajectory, the vertical to horizontal shooting effect is achieved. In this way, when the shooting information is played back through the mobile terminal, a mobile-friendly look and feel can be ensured. At the same time, a strong visual contrast of "focusing on the subject in the vertical screen and showing the broad environment in the horizontal screen" can be achieved, which improves the quality of the finished film. Visual viewing effect.

In addition, the image display method in this embodiment can achieve more convenient and faster camera movement settings under any flight trajectory and a more natural and expected image transmission viewing experience, further improving the quality and effect of user viewing.

Below, some embodiments of the UAV control method, image display method, UAV and control terminal in the present invention will be described in detail with reference to the accompanying drawings. The following embodiments and features in the embodiments may be combined with each other as long as there is no conflict between the embodiments.

Figure 1 is a schematic principle diagram of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present invention; Figure 2 is a schematic flow diagram of a method of controlling an unmanned aerial vehicle provided by an embodiment of the present invention; refer to Figures 1-2 As shown, this embodiment provides a control method for a drone, in which the drone can communicate with the control terminal. In order to realize the QuickShot shooting function, the drone can include a pan/tilt equipped with an image collection device. The above-mentioned image capturing device may be a camera, a video camera, a mobile phone with an image capturing function, a tablet computer or other equipment, etc. The pan/tilt may include a three-axis pan/tilt, and the three-axis pan/tilt may include a pan/tilt for driving the image capturing device around the first A first motor for rotating the axis (yaw axis-yaw axis), a second motor for driving the image acquisition device to rotate around the second axis (roll axis-roll axis), and a second motor for driving the image acquisition device to rotate around the third axis ( The third motor that rotates the pitch axis-pitch axis). It can be understood that the type of the pan/tilt can be not only a three-axis pan/tilt, but also a four-axis pan/tilt. For pan/tilts of different structural types, the pan/tilt can include different structural components. Those skilled in the art can determine the type according to the specific requirements. PTZ type to set the specific structure included in the PTZ, which will not be described again here.

Specifically, the execution subject of the UAV control method can be a control device of the UAV, and the control device of the UAV can be integrated on the UAV. At this time, the control device of the UAV can be considered to be implemented as a Drones and drone control methods may include:

Step S201: Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also set by the user.

Step S202: Automatically control the drone to move according to the pre-flight trajectory.

Step S203: Automatically control the pan/tilt and the image acquisition device to shoot the target object according to the pan/tilt control information.

The specific implementation process and implementation effects of each of the above steps are described in detail below:

Step S201: Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also set by the user.

The target object to be photographed may include at least one object that can be captured by the image acquisition device on the drone. When there are multiple target objects to be photographed, the multiple target objects may be regarded as a whole object to be photographed. The preset working mode can include the preset QuickShot mode or the QuickShot mode + PTZ action integrated mode. The integrated mode can include QuickShot mode-banner running mode, QuickShot mode-vertical running mode, QuickShot mode-horizontal and vertical running mode. , QuickShot mode-vertical to horizontal running mode, etc. Regardless of the above-mentioned types of working modes, the above-mentioned working modes include pre-flight trajectories and gimbal control information used to control the UAV. The pre-flight trajectories can include soaring trajectories, orbiting trajectories, spiral trajectories, etc. , PTZ control information may include Yaw axis control parameters, Pitch axis control parameters, Roll axis control parameters, PTZ action parameters, etc. PTZ action parameters may include banner shooting parameters, vertical shooting parameters, vertical rotation and horizontal shooting parameters, Horizontal and vertical shooting parameters and so on.

It should be noted that the pre-flight trajectory and gimbal control information included in the working mode can be set by the user. Specifically, the pre-flight trajectory can be set based on the user's first operation, and the gimbal control information can be set based on the user's Set by the second operation. The above-mentioned first operation and the second operation are different, thus effectively enabling the user to separately configure the pre-flight trajectory and gimbal control parameters of the drone according to application needs and shooting needs, and then The decoupling operation of gimbal movement and pre-flight trajectory is realized.

In addition, this embodiment does not limit the specific implementation method of obtaining the target object to be photographed. In some examples, the target object to be photographed may be automatically recognized based on the image acquisition device or an object selection input by the user for the image acquisition device. Obtained by the operation, specifically, obtaining the target object to be photographed may include: obtaining a collection picture of the image collection device on the drone, and performing an automatic identification operation of the target object based on the collection picture to determine the target object to be photographed. Or, obtain the object selection operation input by the user on the acquisition screen, and determine the target object to be photographed based on the object selection operation. In some examples, the target object to be photographed may be sent to the drone by the control terminal. Specifically, obtaining the target object to be photographed may include: receiving the target object to be photographed sent by the control terminal, so that the drone The camera can stably obtain the target object to be photographed.

In addition, this embodiment does not limit the specific implementation method of obtaining the preset working mode. In some examples, the preset working mode can be determined based on the model selection operation input by the user in the preset interface. At this time, Obtaining the preset working mode may include: obtaining an interactive interface for configuring the working mode, determining the mode selection operation input by the user in the interactive interface, and determining the preset working mode based on the mode selection operation. In other examples, the preset working mode can be the default working mode of the drone. At this time, the preset working mode can be stored in the preset area. After detecting the power-on operation of the drone, the preset mode can be accessed by You can get the preset working mode of the drone by selecting the area. In some examples, the preset working mode may be sent by the control terminal to the drone. Specifically, obtaining the preset working mode may include: receiving the preset working mode sent by the control terminal, so that the unmanned aerial vehicle The machine can obtain the preset working mode stably.

It should be noted that the target object to be photographed and the preset working mode can be obtained synchronously or asynchronously. When the target object to be photographed and the preset working mode are obtained asynchronously, the target object to be photographed can be obtained first, and then Obtain the preset working mode; alternatively, you can also obtain the preset working mode first, and then obtain the target object to be photographed.

Step S202: Automatically control the drone to move according to the pre-flight trajectory.

Since the working mode includes the pre-flight trajectory of the UAV, the above-mentioned pre-flight trajectory is used to control the movement of the UAV. Therefore, after obtaining the preset working mode, it can be based on the pre-flight trajectory included in the working mode. Automatically control drones to move.

Step S203: Automatically control the pan/tilt and the image acquisition device to shoot the target object according to the pan/tilt control information.

Since the working mode includes PTZ control information, the above PTZ control information is used to control the PTZ and the image acquisition device on the PTZ. The PTZ control information may include: Yaw axis control parameters, Pitch axis control parameters, Roll Axis control parameters, banner shooting parameters corresponding to the image acquisition device, vertical shooting parameters, vertical rotation and horizontal shooting parameters, horizontal rotation and vertical shooting parameters, etc. Therefore, after acquiring the preset working mode, the pan/tilt and the image acquisition device can be automatically controlled based on the pan/tilt control information included in the working mode to perform shooting operations on the target object to be photographed, for example: controlling the target object based on the pre-flight trajectory. During the flight of the human-machine, the Yaw axis of the gimbal can be controlled to rotate based on the Yaw axis control parameters; the Pitch axis of the gimbal can be controlled to rotate based on the Pitch axis control parameters; the Roll axis of the gimbal can be controlled to rotate based on the Roll axis control parameters. At this time, automatically controlling the pan/tilt and the image capture device to shoot the target object according to the pan/tilt control information may include: controlling the roll axis (Roll axis) on the pan/tilt based on the pan/tilt control information, so that the image capture device reaches The corresponding shooting mode (banner shooting mode, vertical shooting mode, horizontal and vertical switching shooting mode, preset angle shooting mode, etc.), and the shooting operation is performed based on the achieved shooting mode. In this way, not only can the drone, gimbal and image acquisition device be automatically decoupled and controlled, but also the shooting information corresponding to the target object can be obtained through the image acquisition device. The shooting information can include image information, video information, Point cloud information and so on.

The control method of the UAV provided by this embodiment obtains the target object to be photographed and the preset working mode. Since the working mode can include the pre-flight trajectory and gimbal control information of the UAV, the UAV can then be controlled according to the The pre-flight trajectory automatically controls the movement of the UAV, and automatically controls the PTZ and the image acquisition device to photograph the target object according to the PTZ control information, thereby effectively realizing the ability to The drone, gimbal, and image acquisition device perform automatic decoupling control operations, so that when shooting through the drone, the degree of freedom in shooting is higher, and it can provide users with a more flexible and rich experience in shooting. It is conducive to bringing more interesting and visually impactful film effects, and greatly enriches the shooting effects that drones can achieve.

Figure 3 is a schematic flowchart of obtaining a preset working mode according to an embodiment of the present invention; based on the above embodiment, with reference to Figure 3, since the working mode includes PTZ control information, the PTZ control information can Set by the user, this embodiment provides an implementation method for the user to set the PTZ control information. Specifically, obtaining the preset working mode in this embodiment may include:

Step S301: Obtain the shooting mode of the gimbal. The shooting mode is determined by the user's selection. The shooting mode includes the posture of the gimbal when shooting.

Among them, multiple shooting modes that can control the gimbal are pre-configured. The shooting modes include at least one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, preset angle shooting, etc. Specifically, banner shooting It is used to enable the image collection device on the pan and tilt platform to perform horizontal shooting operations; vertical shooting is used to enable the image collection device on the pan and tilt platform to perform vertical shooting operations; horizontal and vertical switching shooting is used to enable the image collection device on the pan and tilt platform to perform vertical shooting operations. It is possible to perform a banner shooting operation at a first moment and a vertical shooting operation at a second moment, where the first moment is different from the second moment. Preset angle shooting is used to enable the image acquisition device on the pan/tilt to perform shooting operations at a preset angle.

Specifically, the user can select the shooting mode of the gimbal according to the shooting needs, and the shooting mode may include the posture of the gimbal when shooting. In some instances, the user's selection can be determined based on the user's operation of the screen, and the screen can display all shooting modes that the gimbal can achieve.

For example, as shown in Figure 4, all shooting modes that the gimbal can achieve are displayed on the screen. All shooting modes can include banner shooting mode, vertical shooting mode, vertical-to-horizontal switching shooting mode, horizontal-to-vertical switching shooting mode Shooting mode, preset angle shooting mode, etc. Then the user can click or slide on any shooting mode on the screen to determine the shooting mode of the gimbal. For example, the shooting mode of the gimbal is vertical shooting mode. etc.

In other instances, the shooting mode of the gimbal may be related to the pre-flight trajectory of the drone. In this case, the user's selection may be determined based on the user's operation of the screen, and the screen can display the same as the drone's pre-flight trajectory. Pre-flight trajectory matching shooting mode.

For example, referring to FIG. 5 , a banner shooting mode corresponding to pre-flight trajectory 1, a vertical shooting mode corresponding to pre-flight trajectory 2, a vertical banner shooting mode corresponding to pre-flight trajectory 3 are pre-configured. Horizontal and vertical shooting modes corresponding to pre-flight trajectory 4. The user can click or slide on any pre-flight trajectory shooting mode in the interface to determine the shooting mode that matches the drone's pre-flight trajectory. For example, the gimbal's shooting mode can be the same as the pre-flight trajectory. The vertical shooting mode corresponding to track 2 and so on.

In addition, as for the pre-flight trajectories, in different application scenarios, the pre-flight trajectories of the drone can be different, and different pre-flight trajectories can correspond to the same or different shooting modes. In some examples, the distances between adjacent track points in the pre-flight trajectory and the target object are different, and the matching shooting mode includes switching between horizontal and vertical frames.

Specifically, the pre-flight trajectory of the UAV is composed of several trajectory points. The formed pre-flight trajectory is used to control the UAV. The distance between several trajectory points in the pre-flight trajectory and the target object can be Identical or different, when the distances between adjacent trajectory points and the target object in the pre-flight trajectory are the same, it means that when controlling the flight of the drone based on the pre-flight trajectory, the distance between the drone and the target object at any time Same or approximately the same. When the distances between adjacent trajectory points and the target object in the pre-flight trajectory are different, it means that when the drone is controlled to fly based on the pre-flight trajectory, the distance between the drone and the target object at any time is different.

When the distances between adjacent trajectory points in the pre-flight trajectory and the target object are different, the pre-configured shooting mode that matches the above-mentioned pre-flight trajectory includes horizontal and vertical frame switching shooting. Specifically, due to the different distances between adjacent trajectory points in the pre-flight trajectory and the target object, it may include: the distance between adjacent trajectory points in the pre-flight trajectory and the target object gradually increases, the distance between adjacent trajectory points in the pre-flight trajectory gradually increases, The distance between the point and the target object gradually decreases; and the horizontal and vertical switching shooting modes may include: vertical to banner shooting mode, and banner to vertical shooting mode. Therefore, in order to improve and ensure the quality and quality of shooting the target object, The effect is that in some examples, the distance between adjacent track points in the pre-flight trajectory and the target object gradually increases, and the matching shooting modes include vertical to banner shooting modes. In other examples, the distance between adjacent track points in the pre-flight trajectory and the target object gradually decreases, and the matching shooting mode includes a horizontal-to-vertical shooting mode.

For example, as shown in Figure 6, when the target object is a vehicle, the pre-flight trajectory includes adjacent trajectory points a1 and a2, the distance between trajectory point a1 and the vehicle is d1, and the distance between trajectory point a2 and the vehicle is d1. The distance is d2, where d2<d1, that is, the distance between adjacent trajectory points in the pre-flight trajectory and the vehicle gradually decreases. At this time, in order to ensure the quality and effect of shooting the vehicle, you can Make sure the gimbal’s shooting mode is from horizontal to vertical shooting mode.

Similarly, when the above-mentioned distance d2 > distance d1 (not shown in the figure), it can be determined that the shooting mode of the pan/tilt is a vertical to horizontal shooting mode.

It should be noted that the shooting mode of the gimbal can not only be determined based on the different pre-flight trajectories of the drone, but also based on the characteristics of the target object. At this time, the user's choice is determined based on the user's operation of the screen. The screen can display shooting modes that match the target subject.

7, for the target object, the type of the target object can be determined based on the length and width of the target object in the display screen. For example, when the length of the target object is less than the width, it is determined that the target object is The first type of object; when the length of the target object is greater than the width, the target object is determined to be the second type object; when the length and width of the target object are similar, the target object is determined to be the third type object.

For different types of target objects, shooting modes matching different types of target objects are pre-configured. For example, the shooting mode matching the first type of objects is the horizontal shooting mode, and the shooting mode matching the second type of objects is the vertical shooting mode. frame shooting mode, the shooting mode matching the third type of object is the vertical banner shooting mode, etc., and then the user can click or slide on the shooting mode matching any type of target object in the interface, so as to determine A shooting mode that matches the target object. For example, when the target object is a third type of object, the shooting mode of the gimbal can be determined to be the vertical banner shooting mode corresponding to the third type of object.

When controlling a drone to shoot a target object, in order to improve the quality and effect of the shooting, in addition to displaying a shooting mode that matches the target object on the screen, the drone can also display the target object on the screen based on the The length and width recommend matching shooting modes for users.

The length and width of the target object on the screen include the length and width of the identified outline of the target object on the screen, or the length and width of the selection identification box of the target object selected by the user. After obtaining the length and width of the target object on the screen, a matching shooting mode can be recommended to the user based on the length and width of the target object on the screen.

In some examples, when the aspect ratio of the target object is greater than the first threshold, the matching shooting mode includes horizontal shooting; when the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; When the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, the matching shooting mode includes horizontal and vertical frame switching shooting.

Specifically, as shown in Figure 8, taking the length and width of the selection identification box of the target object selected by the user as the length and width of the target object as an example, when the target object is a building, the length L of the building can be obtained. and width W, and then the aspect ratio L/W of the building can be obtained, and L/W is analyzed and compared with the preconfigured first threshold and second threshold. When the aspect ratio L/W is greater than the first threshold, It means that the length of the building is greater than the width. At this time, in order to ensure the quality and effect of shooting the building, the shooting mode of the gimbal can be determined to be the banner shooting mode.

Referring to Figure 9, when the target object is a clock tower, the length L and width W of the clock tower can be obtained, and then the aspect ratio L/W of the clock tower can be obtained, and L/W is compared with the preconfigured first threshold. Analyze and compare with the second threshold. When the aspect ratio L/W is less than the second threshold, and the second threshold is less than the first threshold, it means that the width of the clock tower is greater than the length. At this time, in order to ensure that the clock tower is Based on the quality and effect of the shooting, you can determine that the shooting mode of the gimbal is vertical shooting mode.

It should be noted that in addition to determining the shooting mode of the gimbal based on the characteristic reference dimension of the aspect ratio, the shooting mode of the gimbal can also be determined directly based on the relationship between the length and width of the target object. At this time, when the target When the length of the object is greater than the width, the matching shooting modes include banner shooting, vertical shooting, and horizontal and vertical switching shooting; when the length of the target object is less than or equal to the width, the matching shooting modes include vertical shooting.

Specifically, taking the length and width of the selection identification box of the target object selected by the user as the length and width of the target object as an example, after obtaining the length L and width W of the target object, the length and width can be analyzed and compared. When the length of the target object is greater than the width, it means that the target object is relatively long. At this time, in order to ensure the quality and effect of shooting the target object, the shooting mode of the gimbal can be determined as banner shooting mode, vertical shooting mode, horizontal and vertical shooting mode. to switch the shooting mode. When the length of the target object is less than or equal to the width, it means that the target object is relatively wide, or the length of the target object is equal to the width. At this time, it can be determined that the shooting mode of the gimbal is vertical shooting.

Through the above implementation method, it is effectively realized that different shooting modes of the gimbal can be determined based on target objects with different size characteristics, thus effectively ensuring the quality and effect of acquiring the shooting modes of the gimbal.

Step S302: Determine the pan-tilt control information according to the shooting mode of the pan-tilt.

After acquiring the shooting mode of the gimbal, the gimbal control information can be determined according to the shooting mode of the gimbal, where different shooting modes of the gimbal can determine different gimbal control information.

In some examples, the PTZ control information may not only be related to the shooting mode of the PTZ, but also may be related to the shooting duration information that the user wants to perform a shooting operation on the target object. At this time, in this embodiment, the shooting based on the PTZ mode, determining the PTZ control information may include: obtaining the pre-shooting duration; determining the PTZ control information based on the pre-shooting duration and shooting mode.

Among them, in order to accurately determine the PTZ control information, the pre-shooting duration can be obtained first. The pre-shooting duration can be determined based on the user's configuration operation or input operation. After the pre-shooting duration is obtained, the pre-shooting duration and The shooting mode is analyzed and processed to determine the gimbal control information.

In addition, this embodiment does not limit the implementation of determining the pan/tilt control information based on the pre-shooting duration and shooting mode. In some examples, a machine learning model for determining the pan/tilt control information is pre-trained. After the pre-shooting duration is obtained and shooting mode, the pre-shooting duration and shooting mode can be input into the machine learning model, and then the PTZ control information output by the machine learning model can be obtained.

In other examples, determining the gimbal control information based on the pre-shooting duration and shooting mode may include: when the shooting mode is horizontal and vertical switching shooting, determining the gimbal for vertical shooting, horizontal and vertical switching shooting, and horizontal shooting based on the pre-shooting duration. Corresponding times; determine the gimbal control information based on the respective corresponding times for vertical shooting, horizontal and vertical switching shooting, and horizontal shooting.

Specifically, when the shooting mode is the horizontal and vertical switching shooting mode, since the horizontal and vertical switching shooting mode corresponds to the three stages of the pan and tilt, namely the pan and tilt shooting stage, the horizontal and vertical switching shooting stage, and the horizontal shooting stage, due to the pre-shooting The total duration is limited. Therefore, in order to accurately achieve the shooting operation of the target object in the horizontal and vertical switching shooting mode, after obtaining the pre-shooting duration, the pre-shooting duration can be analyzed and processed to determine the gimbal and vertical shot. The corresponding times for shooting, horizontal and vertical switching shooting, and horizontal shooting.

In some examples, the pre-shooting time can be divided into three equal parts to determine the corresponding times for pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The shots correspond to the same time.

In other examples, the pre-shooting duration can be randomly divided into three time periods, and then the three time periods can be determined as the corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting. At this time, this implementation In the example, determining the corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting based on the pre-shooting duration may include: determining the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; The second preset period in the preset shooting duration information is determined as the time corresponding to vertical and horizontal switching shooting; the third preset period in the preset shooting duration information is determined as the time corresponding to horizontal shooting; wherein, the third preset period in the preset shooting duration information is determined as the time corresponding to horizontal shooting; A preset time period, a second preset time period and a third preset time period constitute a preset shooting duration, and the first preset time period, the second preset time period and the third preset time period may be the same or different. It can be seen from the above that the corresponding times for vertical shooting with a gimbal, switching between horizontal and vertical shooting, and horizontal shooting can be the same or different.

After obtaining the respective times corresponding to the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting, the pan/tilt control information can be determined based on the corresponding times of the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting, thereby effectively It achieves stable and reliable determination of PTZ control information.

In some examples, the gimbal control information may not only be related to the gimbal's shooting mode and shooting duration information, but also may be related to the drone's pre-flight distance information. At this time, in this embodiment, the gimbal's shooting mode is , determining the gimbal control information may include: obtaining the distance information of the UAV pre-flight; determining the gimbal control information based on the distance information and shooting mode.

Specifically, in order to accurately determine the gimbal control information, the distance information of the UAV's pre-flight can be obtained first. This distance information is not the straight-line distance between the UAV and the target object, but is controlled based on the pre-flight trajectory. When the drone is flying, the distance information that the drone needs to move is provided. In addition, the pre-flight distance information of the UAV can be determined based on the user's configuration operation or input operation. After obtaining the UAV pre-flight distance information, the UAV pre-flight distance information and shooting mode can be modified. Analyze and process to determine PTZ control information.

Among them, when the shooting mode is the horizontal and vertical switching shooting mode, since the horizontal and vertical switching shooting mode corresponds to the three stages of the gimbal, namely the gimbal and vertical shooting stage, the horizontal and vertical switching shooting stage, and the horizontal shooting stage, because the drone The total distance of the pre-flight distance information is limited. Therefore, in order to accurately achieve the shooting operation of the target object in the horizontal and vertical switching shooting mode, after obtaining the pre-flight distance information of the drone, the distance information can be analyzed. Processing to determine the corresponding distance information for vertical shooting on a gimbal, switching between horizontal and vertical shooting, and horizontal shooting. In some examples, the distance information can be divided into three equal parts to determine the distance information corresponding to the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The distance information corresponding to each shot is the same.

In other examples, the distance information can be randomly divided into three distance segments, and then the three distance segments are determined as the distance information corresponding to the pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting. At this time, this implementation In the example, determining the distance information corresponding to the gimbal vertical shooting, horizontal and vertical switching shooting, and horizontal shooting based on the distance information may include: determining the first distance segment in the distance information of the drone's pre-flight as the vertical shooting. distance information; determine the second distance segment in the preset shooting duration information as the distance information corresponding to vertical and horizontal switching shooting; determine the third distance segment in the preset shooting duration information as the distance corresponding to horizontal shooting Information; wherein, the first distance segment, the second distance segment and the third distance segment constitute the distance information of the UAV pre-flight, and the above-mentioned first distance segment, second distance segment and third distance segment may be the same or different. It can be seen from the above that the distance information corresponding to vertical shooting with a gimbal, switching between horizontal and vertical shooting, and horizontal shooting can be the same or different.

In some examples, the gimbal control information can not only be related to the gimbal's shooting mode, shooting duration information, and drone pre-flight distance information, but also be related to the proportion of the target object in the picture. At this time, In this embodiment, determining the PTZ control information according to the shooting mode of the PTZ may include: obtaining the proportion information of the target object in the picture; and determining the PTZ control information based on the proportion information and the shooting mode.

Specifically, in order to accurately determine the pan/tilt control information, the proportion information of the target object in the screen can be obtained first. The proportion information of the target object in the screen can change as the shooting operation of the target object proceeds. Among them, the proportion information of the target object in the picture can be determined based on the size information of the target object in the picture. When the size information of the target object in the picture is larger, the proportion information of the target object in the picture is larger. , when the size information of the target object in the picture is small, the proportion information of the target object in the picture is small.

After obtaining the proportion information of the target object in the picture, the proportion information and shooting mode can be analyzed and processed to determine the gimbal control information. Specifically, the specific implementation method of determining the PTZ control information in this embodiment is similar to the above-mentioned determination of the PTZ control information based on the duration information, and is not limited.

In other examples, based on the proportion information and the shooting mode, determining the pan/tilt control information may include: when the proportion information is greater than the first proportion threshold, it means that the display size of the target object in the picture at this time is relatively large, Then the shooting mode can be determined to be the horizontal shooting mode based on the proportion information, and then the pan/tilt control information can be determined based on the horizontal shooting mode and the proportion information; when the proportion information is less than or equal to the first proportion threshold, it indicates the target at this time The display size of the object in the picture is relatively small, and then the shooting mode can be determined to be the vertical shooting mode based on the proportion information, and then the PTZ control information can be determined based on the vertical shooting mode and the proportion information, thus effectively ensuring the control information of the PTZ Accurate reliability for making determinations.

In this embodiment, the shooting mode of the gimbal is obtained, and then the gimbal control information is determined according to the shooting mode of the gimbal. This not only ensures the accuracy and reliability of determining the gimbal control information, but also improves the accuracy of the gimbal-based control information. The quality and efficiency of the control information to control the pan/tilt and image acquisition device further improve the practicality of this method.

In some examples, the method in this embodiment may also include: generating corresponding shooting videos based on the content captured by the image acquisition device, wherein different working modes and PTZ control information can generate shooting videos with different effects. Videos can include: banner shooting videos, vertical shooting videos, banner-to-vertical shooting videos, vertical-to-banner shooting videos, etc. This can effectively meet the user's shooting needs and help improve the flexibility and reliability of this method.

In addition, when the video is converted from banner to vertical format or from vertical to banner, the video image amplitude in the captured video needs to be switched. Therefore, in order to ensure the quality and effect of displaying the captured video, in When playing the captured video, the user can be reminded to perform a rotation operation on the display used to play the captured video. In some examples, generating the corresponding captured video based on the content captured by the image acquisition device may include: obtaining the original video, The original video is obtained by the image acquisition device based on banner shooting, vertical shooting and horizontal and vertical switching; when switching between horizontal and vertical formats in the original video, a rotation prompt icon is added to generate the target video to prompt the user to view the target video. The display unit rotates.

Among them, the approximate horizontal and vertical switching operation in the original video may include: when the horizontal and vertical switching operation is performed in the original video, and the preset time period (1s, 2s or 5s, etc.) before the horizontal and vertical switching operation is performed in the original video. . In addition, the added rotation prompt icon can be displayed in a floating manner, a floating window, or a pop-up window. As long as it can be displayed when the target video is played and the original video is switched between horizontal and vertical frames, all the icons can be displayed. The added rotation prompt icon is sufficient, so that the user can perform a rotation operation on the display device through the displayed rotation prompt icon.

Specifically, after automatically controlling the gimbal and the image collection device to shoot the target object according to the gimbal control information, the drone can directly obtain the original video through the image collection device, and the original video can include the video obtained through the banner shooting operation. Banner video frames, vertical video frames obtained by vertical shooting, switching video frames obtained by switching between horizontal and vertical shooting. After obtaining the original video, the drone can add a rotation prompt icon when switching between horizontal and vertical widths in the original video to generate the target video. The added rotation prompt icon is used to prompt the user to adjust the display device when watching the target video. The rotation operation ensures that the target video displayed by the display device is always in the forward direction, thereby improving the quality and effect of displaying the target video.

It should be noted that the target video generation subject can not only be a drone, but also a control terminal. When the control terminal can generate a target video with a rotation prompt icon, the method in this embodiment can also include: obtaining the original Video, the original video is obtained by the image acquisition device based on banner shooting, vertical shooting and horizontal and vertical switching shooting; the original video is sent to the control terminal so that the control terminal can be used to generate the target video, and the target video is generated based on the original video.

Specifically, after automatically controlling the gimbal and the image collection device to shoot the target object according to the gimbal control information, the drone can directly obtain the original video through the image collection device, and the original video can include the video obtained through the banner shooting operation. Banner video frames, vertical video frames obtained by vertical shooting, switching video frames obtained by switching between horizontal and vertical shooting.

After obtaining the original video, in order to be able to generate a target video with a rotation prompt icon, the drone can send the original video to the control terminal. After the control terminal obtains the original video, since the original video can include a banner shooting operation The obtained banner video frame, the vertical video frame obtained through vertical shooting, and the switching video frame obtained through horizontal and vertical switching shooting. Therefore, in order to ensure the quality and effect of playing the captured video, the control terminal can When switching between roughly horizontal and vertical formats in the original video, a rotation prompt icon is added to generate the target video. The added rotation prompt icon is used to prompt the user to rotate the display device when watching the target video, so as to ensure that the target displayed on the display device The video is always in the forward direction, thereby improving the quality and effect of displaying the target video.

In this embodiment, the corresponding shooting video is generated based on the content captured by the image acquisition device, which can meet the user's needs for shooting the target object. In addition, the shooting video is based on banner shooting, vertical shooting, and horizontal and vertical switching shooting. At the same time, the drone or control terminal is used to add a rotation prompt icon to the captured video to obtain the target video, thereby effectively ensuring the stability and reliability of generating the target video, and based on the added rotation prompt icon, the target video can be generated During the playback process, the user is reminded to adjust the display device in a timely manner to ensure that the target video displayed by the display device is always in the forward direction, further improving the quality and effect of displaying the target video.

Figure 10 is a schematic flow chart of another UAV control method provided by an embodiment of the present invention; based on the above embodiment, with reference to Figure 10, during the process of controlling the UAV, you can The image acquisition device obtains the captured video. In order to further improve the practicality of the method, this embodiment provides an implementation method for configuring the playback speed of the captured video. Specifically, the method in this embodiment may also include:

Step S1001: Obtain the image type of each video frame in the captured video, where the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image.

After the captured video is obtained through the image acquisition device, in order to enable the captured video to meet the playback needs of different users, the image type of each video frame in the captured video can be obtained. Specifically, the image type can include any of the following: vertical image , horizontal and vertical switching images, banner images, and oblique images. It should be noted that the vertical image is an image obtained by performing a vertical shooting operation through an image acquisition device, and the horizontal and vertical switching image is an image obtained by performing a horizontal and vertical switching shooting operation by an image acquisition device. The obtained image, the banner image is an image obtained by performing a banner shooting operation by the image acquisition device, and the oblique image is an image obtained by performing a shooting operation at a preset angle by the image acquisition device.

In addition, this embodiment does not limit the implementation method of obtaining the image type of each video frame in the captured video. In some examples, obtaining the image type corresponding to each video frame in the captured video may include: obtaining each video frame in the captured video. The corresponding image type identifier determines the image type of each video frame in the captured video based on the image type identifier. In other examples, obtaining the image type corresponding to each video frame in the captured video may include: obtaining the display angle of the target object in each video frame in the captured video relative to the display device, and determining the phase of each video frame in the captured video based on the display angle. The corresponding image type effectively ensures the accuracy and reliability of obtaining the image type of each video frame in the captured video.

Step S1002: Determine the playback speed for displaying each video frame according to the image type.

After the image type is obtained, the image type can be analyzed and processed to determine the playback speed for displaying each video frame. In some examples, mapping relationships between different image types and playback speeds are pre-configured, and then the playback speed for displaying each video frame can be determined based on the image type and the mapping relationship, for example: when the image type is vertical When the image type is a banner image, the first speed for displaying the vertical image can be determined based on the mapping relationship and the vertical image; when the image type is a banner image, the first speed for displaying the banner image can be determined based on the mapping relationship and the banner image. Proceed to display the second speed and so on.

In other examples, determining the playback speed for displaying each video frame according to the image type may include: when the image type is one of a vertical image, a horizontal and vertical switching image, or an oblique image, determining the playback speed for displaying each video frame. The playback speed at which each video frame is displayed is the first speed; when the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined. is the second speed, and the playback speed of each video frame in the subsequent image set is the first speed, wherein the second speed is greater than the first speed.

In this embodiment, by obtaining the image type of each video frame in the captured video, and then determining the playback speed for displaying each video frame according to the image type, it is effectively realized that after obtaining the captured video, based on the captured video Video frames of different image types are used to configure the playback speed of the captured video, and then the captured video can be played based on the configured playback speed, thereby meeting the different playback needs of different users for the captured video, further improving the flexibility and reliability of this method. sex.

Figure 11 is a schematic flow chart of another method for controlling a drone provided by an embodiment of the present invention; based on the above embodiment, with reference to Figure 11, during the process of controlling the drone, in order to To enable users to promptly understand the real-time operating status of the drone, the method in this embodiment may also include:

Step S1101: Obtain the pre-flight trajectory determined based on the user's selection.

Among them, in order to be able to control the UAV, the pre-flight trajectory determined based on the user's selection can first be obtained. In some examples, obtaining the pre-flight trajectory determined based on the user's selection can include: obtaining the selection of the pre-flight trajectory. page, the selection page can display multiple selectable pre-flight trajectories, as shown in Figure 12. The multiple pre-flight trajectories can include: soaring flight trajectories, inclined flight trajectories, orbiting flight trajectories, spiral flight trajectories, etc., and, Multiple pre-flight trajectories may be selectable trajectories located in a preset working mode, and different working modes may correspond to different selectable trajectories. Then the selection operation input by the user on the selection page can be obtained, and the pre-flight trajectory can be determined based on the selection operation. When the user selects the spiral flight trajectory, it can be determined that the pre-flight trajectory used to control the drone is the spiral flight trajectory. , Since the above-mentioned pre-flight trajectory is determined based on the user's selection operation, it can meet the different control needs of different users for the UAV.

In other examples, obtaining the pre-flight trajectory determined based on the user's selection may include: obtaining a configuration page of the pre-flight trajectory. The configuration page may display multiple controls for editing the pre-flight trajectory. The multiple controls It can include: straight line controls, curve controls, circular controls, elliptical controls, curvature controls, etc., and then the configuration operations input by the user on the configuration page can be obtained. Based on the configuration operations, the pre-flight trajectory can be determined, and the flight path can be determined after the user configures the sky. When flying the trajectory, the pre-flight trajectory used to control the UAV can be determined to be the sky-high flight trajectory. The pre-flight trajectory at this time can also be considered to be determined based on the user's selection operation, thus satisfying the needs of different users. Different control requirements of man and machine.

Step S1102: Display the pre-flight trajectory on the map.

After obtaining the pre-flight trajectory determined based on the user's selection, in order to enable the user to understand and view the determined pre-flight trajectory, the pre-flight trajectory may be displayed on the map. When displaying the pre-flight trajectory on the map, you can obtain the flown trajectory segments and non-flight trajectory segments included in the pre-flight trajectory. The flown trajectory segments and the non-flight trajectory segments can be displayed in different ways on the map. The flown trajectory segments and non-flighted trajectory segments are displayed in a certain way, for example, the flown trajectory segments are displayed in gray color on the map, the non-flighted trajectory segments are displayed in green color, etc., so that the user can intuitively view the non-flying trajectory segments. The operating status of the human-machine pre-flight trajectory.

In other examples, displaying the pre-flight trajectory on the map may include: obtaining the real-time position of the drone; displaying the real-time position and pre-flight trajectory of the drone on the map. Specifically, when the pre-flight trajectory is obtained and the drone is controlled based on the pre-flight trajectory, the real-time position of the drone can be obtained through the real-time positioning device on the drone, and then the real-time position of the drone is displayed on the map. Position and pre-flight trajectory, as shown in Figure 13, when the target object is the mountain to be photographed, after obtaining the pre-flight trajectory, the UAV can be controlled to move based on the pre-flight trajectory, and then the UAV is controlled based on the pre-flight trajectory. During control, a map thumbnail can be displayed in the lower left corner of the display screen. The map thumbnail can not only display the pre-flight trajectory used to control the drone, but also display the real-time position of the drone. , Specifically, the real-time position of the drone can be marked by an arrow, so that the user can intuitively view the real-time position and pre-flight trajectory of the drone on the map.

In this embodiment, by obtaining the pre-flight trajectory determined based on the user's selection, and then displaying the pre-flight trajectory on the map, the user can intuitively view the real-time location and pre-flight trajectory of the drone through the map, and further Improved the practicality of this method.

Figure 14 is a schematic flow chart of yet another method of controlling a drone provided by an embodiment of the present invention; with reference to Figure 14, this embodiment provides yet another method of controlling a drone, and the execution body of the control method It can be a control device of a drone. Specifically, the control device of the drone can be implemented as a control terminal, that is, the control method can be applied to the control terminal. The control terminal is used to control the drone. In order to realize QuickShot For the shooting function, the drone may include a pan/tilt equipped with an image collection device. The image collection device may be a camera, a video camera, a mobile phone, a tablet, or other equipment with image capturing functions. The pan/tilt may include a three-axis The three-axis pan/tilt may include a first motor for driving the image acquisition device to rotate around a first axis (yaw axis-yaw axis), and a first motor for driving the image acquisition device to rotate around a second axis (roll axis-roll axis). ) and a third motor for driving the image acquisition device to rotate around a third axis (pitch axis). It can be understood that the type of the pan/tilt can be not only a three-axis pan/tilt, but also a four-axis pan/tilt. For pan/tilts of different structural types, the pan/tilt can also include different structural components. Those skilled in the art can determine the type according to the specific requirements. The specific structure included in the PTZ can be set according to the PTZ type, which will not be described again here.

Specifically, UAV control methods may include:

Step S1401: Display the drone trajectory selection control and gimbal control control.

Step S1402: Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone.

Step S1403: Generate pan-tilt control information based on the user's operation of the pan-tilt control control. The pan-tilt control information is used to control the pan-tilt and the image acquisition device to perform shooting operations on the target object.

Step S1404: Send the pre-flight trajectory and gimbal control information to the UAV to automatically control the UAV.

The specific implementation process and implementation effects of each of the above steps are described in detail below:

Step S1401: Display the drone trajectory selection control and gimbal control control.

Among them, in order to control the drone, the display interface of the control terminal can display the drone trajectory selection control and the gimbal control control. The above-mentioned drone trajectory selection control is used for the user to make selections to obtain the user's needs. Pre-flight trajectory for controlling the UAV. Moreover, the number of displayed UAV trajectory selection controls may be one or more. When the number of UAV trajectory selection controls is multiple, different UAV trajectory selection controls may correspond to different types of pre-flights. trajectory.

As for the gimbal control control, the gimbal control control is used for the user to select to obtain gimbal control information for controlling the gimbal and image acquisition device on the drone. Moreover, the number of displayed PTZ control controls may be one or more. When the number of PTZ control controls is multiple, different PTZ control controls may correspond to different PTZ control information.

In addition, this embodiment does not limit the specific implementation of the UAV trajectory selection control and PTZ control control. Those skilled in the art can configure the UAV trajectory selection control and PTZ control according to specific application scenarios or configuration requirements. The control is displayed. In some examples, the drone trajectory selection control and the PTZ control control can be displayed simultaneously through a display interface. At this time, the drone trajectory selection control and the PTZ control control can be displayed at different positions of the display interface. , for example, the drone trajectory selection control can be displayed on the left side of the display interface, the gimbal control control can be displayed on the right side of the display interface, and so on.

In other examples, different display interfaces can be used to display the UAV trajectory selection control and PTZ control control. In this case, the display of the UAV trajectory selection control and PTZ control control in this embodiment may include: display UAV trajectory selection control; after obtaining the user's operation on any UAV trajectory selection control, the PTZ control control is displayed to obtain the user's operation on the PTZ control control.

For example, as shown in Figure 15, the UAV trajectory selection control can be displayed first in the display interface. The UAV trajectory selection control can include: a soaring flight trajectory selection control, an inclined flight trajectory selection control, and an orbiting flight trajectory selection control. , spiral flight trajectory selection control, etc., and then the user can enter a selection or click operation for any displayed UAV trajectory selection control, that is, the user selects any UAV trajectory selection control and determines the The pre-flight trajectory controlled by the drone is the flight trajectory corresponding to the drone trajectory selection control selected above.

After obtaining the user's operation on any drone trajectory selection control, the gimbal control control can be displayed in the display interface. For example, the gimbal control control "banner shooting" adjustment control can be displayed in the middle or lower part of the display interface. , and then the user can input operations on the displayed PTZ control control to determine the PTZ control information used to control the PTZ and image acquisition device. Specifically, the user can click "Banner Shooting" displayed in the display interface Adjust the controls, and then display multiple sub-controls that can control the PTZ. The sub-controls can include PTZ action controls and banner controls, vertical controls, vertical-to-horizontal controls, horizontal-to-vertical controls, etc. located under the PTZ action controls. Etc., the different "banner shooting" controls and multiple sub-controls mentioned above can all be used as PTZ control controls. The PTZ control for controlling the PTZ and image acquisition device can be obtained by the user's operation of the PTZ control control. Information, the PTZ control information may include: Yaw axis control parameters, Pitch axis control parameters, Roll axis control parameters, PTZ action parameters, etc. PTZ action parameters may include banner shooting parameters, vertical shooting parameters, vertical and horizontal rotation parameters, etc. Shooting parameters, horizontal and vertical shooting parameters, etc.

In some examples, when different display interfaces are used to display the UAV trajectory selection control and the PTZ control control, the display of the UAV trajectory selection control and the PTZ control control in this embodiment may also include: display of the PTZ Control control, after obtaining the PTZ control information used to control the PTZ and image acquisition device through the PTZ control control, the drone trajectory selection control can be displayed to obtain the user's operation of the drone trajectory selection control , to obtain the pre-flight trajectory used to control the UAV.

Step S1402: Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone.

After displaying the drone trajectory selection control, the user can operate the drone trajectory selection control through the display interface, such as clicking operations, sliding operations, etc., and obtain the operations input by the user on the drone trajectory selection control. After that, the pre-flight trajectory of the drone can be generated based on the above operations. The pre-flight trajectory is used to control the drone. It should be noted that when the user inputs operations for different drone trajectory selection controls, he or she can Generate pre-flight trajectories corresponding to different drone trajectory selection controls. For example, when the user enters a click or selection operation on the sky-high flight trajectory selection control, the pre-flight trajectory used to control the drone can be determined. For the sky-high flight trajectory.

In some instances, in order to meet the different control needs of different users, after generating the pre-flight trajectory, the user can set the relevant parameters of the pre-flight trajectory according to the design requirements or scene requirements. For example: the user can set the distance, Parameters such as the height of the pre-flight trajectory and the speed corresponding to the pre-flight trajectory can be adjusted or configured, and then the drone can be controlled to move based on the configured pre-flight trajectory and other related parameters, which can meet the different application needs of different users.

Step S1403: Generate pan-tilt control information based on the user's operation of the pan-tilt control control. The pan-tilt control information is used to control the pan-tilt and the image acquisition device to perform shooting operations on the target object.

After the PTZ control control is displayed, the user can operate the PTZ control control through the display interface, such as clicking operations, sliding operations, etc. After obtaining the operations input by the user on the PTZ control control, the user can perform operations on the PTZ control control based on the above The operation generates pan-tilt control information, and the pan-tilt control information is used to control the pan-tilt and the image acquisition device to perform shooting operations on the target object. It should be noted that when the user inputs operations for different gimbal control controls, pre-flight trajectories corresponding to different gimbal control controls can be generated, for example: when the user inputs a click or selection operation for the soaring flight trajectory selection control When , it can be determined that the pre-flight trajectory used to control the UAV is the sky-high flight trajectory.

In addition, this embodiment does not limit the specific implementation method of generating pan/tilt control information based on the user's operation of the pan/tilt control control. In some examples, the pan/tilt can correspond to different shooting modes, and different shooting modes can Different PTZ control information is generated. Therefore, in this embodiment, generating PTZ control information based on the user's operation of the PTZ control control may include: based on the user's operation of the PTZ control control, displaying all shooting capabilities that the PTZ can achieve mode; determine the shooting mode of the gimbal in response to the user's operation; determine the gimbal control information according to the shooting mode of the gimbal.

Specifically, for the gimbal, the shooting mode that the gimbal can achieve is pre-configured. The shooting mode includes at least any one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, and preset angle shooting. Among them, banner shooting Shooting is used to control the pan/tilt so that the image collection device located on the pan/tilt can perform banner shooting operations; vertical shooting is used to control the pan/tilt so that the image collection device located on the pan/tilt can perform banner shooting operations. Capable of vertical shooting operations; horizontal and vertical switching shooting is used to control the pan/tilt so that the image collection device located on the pan/tilt can perform a horizontal shooting operation at the first moment and a vertical shooting operation at the second moment. , the above-mentioned first moment is different from the second moment; the preset angle shooting is used to realize the control operation of the pan/tilt, so that the image acquisition device located on the pan/tilt can perform shooting operations at the preset angle. Specifically, the user can select the shooting mode of the gimbal according to the shooting needs, and the shooting mode may include the posture of the gimbal when shooting.

Since the shooting mode of the gimbal is related to the gimbal control information of the gimbal, in order to accurately determine the gimbal control information, after the gimbal control control is displayed, the user can operate the gimbal control control, and then based on the user The operation of the gimbal control can display all the shooting modes that the gimbal can achieve. All shooting modes can include banner shooting, vertical shooting, horizontal and vertical switching shooting, preset angle shooting, etc. Then the user can perform a selection or sliding operation on any shooting mode, so that the shooting mode of the pan/tilt can be determined in response to the user's operation; and then the pan/tilt control information can be determined according to the shooting mode of the pan/tilt. Specifically, this embodiment The determination method of the PTZ control information is similar to the specific implementation method and implementation effect of step S302 in the above embodiment. For details, please refer to the above statement and will not be repeated here.

In other instances, since the shooting mode of the gimbal is related to the gimbal control information, and the shooting mode of the gimbal can be determined based on the pre-flight trajectory of the drone, at this time, based on the user's control of the gimbal The operation of the control to generate the gimbal control information may include: displaying a shooting mode that matches the pre-flight trajectory of the drone based on the user's operation of the gimbal control control; determining the shooting mode of the gimbal in response to the user's operation; The shooting mode of the gimbal determines the gimbal control information.

Since the shooting mode of the gimbal is related to the gimbal control information of the gimbal, in order to accurately determine the gimbal control information, after the gimbal control control is displayed, the user can operate the gimbal control control, and then based on the user The operation of the gimbal control can display the shooting mode that matches the pre-flight trajectory of the drone. In different application scenarios, the pre-flight trajectories of the drone can be different, and different pre-flight trajectories can correspond to There are the same or different shooting modes. In some instances, the distances between adjacent track points in the pre-flight trajectory and the target object are different. The matching shooting modes include switching between horizontal and vertical frames; specifically, the distances between adjacent trajectory points in the pre-flight trajectory are different. The distance between adjacent track points and the target object gradually increases, and the matching shooting mode includes vertical to horizontal shooting mode. The distance between adjacent track points in the pre-flight trajectory and the target object gradually decreases, and the matching shooting modes include the horizontal to vertical shooting mode.

After determining the shooting mode of the gimbal, the gimbal control information can be determined according to the shooting mode of the gimbal. Specifically, the determination method of the gimbal control information in this embodiment is the same as the specific implementation method and implementation of step S302 in the above embodiment. The effects are similar. For details, please refer to the above statements and will not be repeated here.

In some examples, since the shooting mode of the gimbal is related to the gimbal control information, and the shooting mode of the gimbal can be determined based on the target object, at this time, the cloud is generated based on the user's operation of the gimbal control. The platform control information may include: displaying a shooting mode matching the target object based on the user's operation of the platform control control; determining the shooting mode of the platform in response to the user's operation; determining the platform control information according to the shooting mode of the platform .

Since the shooting mode of the gimbal is related to the gimbal control information of the gimbal, in order to accurately determine the gimbal control information, after the gimbal control control is displayed, the user can operate the gimbal control control, and then based on the user The operation of the pan/tilt control control can display the shooting mode that matches the target object, wherein the shooting mode can match the object category or size characteristics corresponding to the target object. When the shooting mode matches the object category of the target object, Then the object category of the target object can be identified first, such as plants, animals, buildings, people, etc., and then the matching shooting mode can be determined based on the object category of the target object. When the shooting mode matches the size characteristics of the target object, displaying the shooting mode that matches the target object may include: obtaining the length and width of the target object on the screen; based on the length and width of the target object on the screen, displaying to the user Recommended shooting modes that match the target subject.

Specifically, when the shooting mode of the gimbal is related to the size characteristics of the target object, in order to accurately determine the shooting mode of the gimbal, the length and width of the target object on the screen can be obtained, where the length of the target object on the screen is and width may include the length and width of the outline of the recognized target object on the screen, or the length and width of the selection identification box of the target object selected by the user. After obtaining the length and width of the target object on the screen, a shooting mode recommended for the user that matches the target object can be displayed based on the length and width of the target object on the screen.

In some examples, based on the length and width of the target object on the screen, displaying the shooting mode recommended for the user that matches the target object may include: when the aspect ratio of the target object is greater than the first threshold, the matching shooting mode Including banner shooting; when the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; when the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, Matching shooting modes include horizontal and vertical switching shooting.

In other examples, based on the length and width of the target object on the screen, displaying the shooting mode recommended for the user that matches the target object may include: when the length of the target object is greater than the width, the matching shooting mode includes banner shooting. , vertical shooting, switching between horizontal and vertical shooting; when the length of the target object is less than or equal to the width, the matching shooting mode includes vertical shooting.

In some examples, for the PTZ control information, the PTZ control information may not only be related to the shooting mode of the PTZ, but also may be related to the shooting duration during which the user wants to perform a shooting operation on the target object. Therefore, this embodiment An implementation method for determining the pan/tilt control information based on the pan/tilt's shooting mode is provided, which specifically includes: obtaining the pre-shooting duration. Determine the PTZ control information based on the pre-shooting duration and the PTZ shooting mode.

In order to accurately determine the gimbal control information, the pre-shooting duration can be obtained first. The pre-shooting duration can be determined based on the user's configuration operation, input operation or default operation. After the pre-shooting duration is obtained, the pre-shooting duration can be Analyze and process the shooting mode of the gimbal to determine the gimbal control information. In some examples, determining the pan/tilt control information based on the pre-shooting duration and the pan/tilt shooting mode may include: when the shooting mode is horizontal and vertical switching shooting, determining the pan/tilt vertical shooting, landscape/vertical switching shooting, and horizontal pan/tilt switching shooting based on the pre-shooting time. The respective corresponding times of shooting are determined; the gimbal control information is determined based on the respective corresponding times of vertical shooting, horizontal and vertical switching shooting, and horizontal shooting.

Among them, determining the corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting according to the pre-shooting duration may include: determining the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; Assume that the second preset period in the shooting duration information is determined as the time corresponding to vertical and horizontal switching shooting; the third preset period in the preset shooting duration information is determined as the time corresponding to horizontal shooting; wherein, the first The preset period, the second preset period and the third preset period constitute a preset shooting duration.

In some examples, the gimbal control information may not only be related to the gimbal's shooting mode and shooting duration information, but also may be related to the drone's pre-flight distance information. At this time, in this embodiment, the gimbal's shooting mode is , determining the gimbal control information may include: displaying the distance information of the drone's pre-flight; determining the gimbal control information based on the distance information and the shooting mode of the gimbal.

Specifically, in this embodiment, the pan/tilt control information, the shooting mode based on the distance information and the pan/tilt are determined based on the pre-shooting duration and the pan/tilt photography mode. The implementation method and implementation effect of determining the pan/tilt control information are the same as those in the above embodiments. According to the pre-shooting duration and the shooting mode of the gimbal, determine the gimbal control information, determine the gimbal control information based on the distance information and the shooting mode of the gimbal, and determine the implementation method and effect of the gimbal control information. For details, please refer to the above statement, here No longer.

In this embodiment, by obtaining the pre-shooting duration, and then determining the PTZ control information based on the pre-shooting duration and the PTZ shooting mode, or determining the PTZ control information based on the distance information and the PTZ shooting mode, it not only ensures Accurate and reliable determination of PTZ control information, and also expands the implementation method of determining PTZ control information, that is, users can determine different pre-shooting duration or distance information according to shooting needs, based on different pre-shooting duration or distance Information is used to determine different PTZ control information, which can meet the shooting needs of different users, further improving the flexibility and reliability of this method.

It should be noted that after determining the shooting mode of the gimbal, the gimbal control information can be determined according to the shooting mode of the gimbal. Specifically, the method of determining the gimbal control information in this embodiment is the same as step S302 in the above embodiment. The specific implementation method and implementation effect are similar. For details, please refer to the above statement and will not be described again here.

Step S1404: Send the pre-flight trajectory and gimbal control information to the UAV to automatically control the UAV.

After obtaining the pre-flight trajectory and gimbal control information, in order to control the UAV, the pre-flight trajectory and gimbal control information can be sent to the UAV, so that the UAV can control the UAV based on the received The pre-flight trajectory and gimbal control information are used to automatically control the drone, thus effectively enabling automatic shooting of target objects.

The UAV control method provided in this embodiment generates a pre-flight trajectory of the UAV based on the user's operation of the UAV trajectory selection control by displaying the UAV trajectory selection control and the PTZ control control, and then based on the user's operation of the UAV trajectory selection control. The operation of the gimbal control control generates gimbal control information and sends the pre-flight trajectory and gimbal control information to the UAV, so that the UAV can be automatically controlled. Specifically, the UAV can be controlled based on the pre-flight trajectory. The drone is flying, and the gimbal and image acquisition device on the drone are controlled based on the gimbal control information. This effectively realizes the automatic decoupling control operation of the drone, gimbal and image capture device. Through wireless When humans and machines perform shooting operations, the degree of freedom in shooting is higher, which can provide users with a more flexible and rich experience in shooting, and is conducive to bringing more interesting and visually impactful film effects, which greatly enriches the unmanned The shooting effect that can be achieved by the camera improves the practicality of this method and is conducive to market promotion and application.

Figure 16 is a schematic flowchart of another UAV control method provided by an embodiment of the present invention; based on the above embodiment, with reference to Figure 16, the method in this embodiment may also include:

Step S1601: Obtain the original video from the image collection device. The original video is obtained by the image collection device based on horizontal shooting, vertical shooting, and horizontal and vertical switching shooting.

Among them, after obtaining the pre-flight trajectory and gimbal control information and sending the pre-flight trajectory and gimbal control information to the UAV, the UAV can be automatically controlled based on the pre-flight trajectory and gimbal control information to achieve The target object is photographed, and the corresponding original video can be generated through the content captured by the image acquisition device. Specifically, different working modes and PTZ control information can generate original videos with different effects. The original video can include: Banner shooting Video, vertical format shooting video, banner to vertical format shooting video, vertical format to banner shooting video, etc. This can effectively meet the user's shooting needs and help improve the flexibility and reliability of this method.

Step S1602: Generate a corresponding target video based on the content of the original video.

After the original video is obtained, the content in the original video can be analyzed and processed to generate a target video corresponding to the original video. For the original video, when the original video is a banner-to-vertical video or a vertical-to-banner video, since the video image amplitude in the original video needs to be switched, in order to ensure the display quality of the original video and effect. When playing the original video, the user can be reminded to rotate the display device used to play the original video. At this time, generating the corresponding target video based on the content of the original video may include: in the original video When switching between roughly horizontal and vertical formats, a rotation prompt icon is added to generate a target video to prompt the user to rotate the display device when watching the target video.

In this embodiment, by acquiring the original video from the image collection device, and then generating the corresponding target video based on the content of the original video, the user's need for shooting the target object can be met. In addition, when the video shooting is based on banner shooting, When shooting in vertical format and switching between horizontal and vertical formats, the user can control the terminal to add a rotation prompt icon to the captured video to obtain the target video, thus effectively ensuring the stability and reliability of generating the target video and playing the target video. In the process, the added rotation prompt icon can remind the user to adjust the display device in a timely manner to ensure that the target video displayed by the display device is always in the forward direction, further improving the quality and effect of displaying the target video.

Figure 17 is a schematic flow chart of another UAV control method provided by an embodiment of the present invention; based on the above embodiment, with reference to Figure 17, during the process of controlling the UAV, you can The image acquisition device obtains the original video. In order to further improve the practicality of the method, this embodiment provides an implementation method for configuring the playback speed of the original video. Specifically, the method in this embodiment may also include:

Step S1701: Obtain the image type of each video frame in the original video, where the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image.

Step S1702: Determine the playback speed for displaying each video frame according to the image type.

Specifically, according to the image type, determining the playback speed for displaying each video frame may include: when the image type is one of vertical images, horizontal and vertical switching images, or oblique images, determining the playback speed for each video frame. The playback speed for display is the first speed; when the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined to be the second speed. The speed and the playback speed of each video frame in the subsequent image set are the first speed, wherein the second speed is greater than the first speed.

It should be noted that the specific implementation manner and implementation effects of the above steps in this embodiment are similar to the specific implementation methods and implementation effects of step S1001 to step S1002 in the above embodiment. For details, please refer to the above statement and will not be repeated here. .

In this embodiment, by obtaining the image type of each video frame in the original video, and then determining the playback speed for displaying each video frame according to the image type, it is effectively realized that after obtaining the original video, based on the original video Video frames of different image types are used to configure the playback speed of the original video, and then the original video can be played based on the configured playback speed, thereby meeting the different playback needs of different users for the original video, further improving the flexibility of this method. reliability.

Figure 18 is a schematic flowchart of another method for controlling a drone provided by an embodiment of the present invention; on the basis of the above embodiment, with reference to Figure 18, during the process of controlling the drone, in order to To enable users to promptly understand the real-time operating status of the drone, the method in this embodiment may also include:

Step S1801: Obtain the pre-flight trajectory determined based on the user's selection.

Step S1802: Display the pre-flight trajectory on the map.

Among them, displaying the pre-flight trajectory on the map may include: obtaining the real-time position of the drone; displaying the real-time position and pre-flight trajectory of the drone on the map.

It should be noted that the specific implementation manner and implementation effects of the above steps in this embodiment are similar to the specific implementation methods and implementation effects of step S1101 to step S1102 in the above embodiment. For details, please refer to the above statement and will not be repeated here. .

In this embodiment, by obtaining the pre-flight trajectory determined based on the user's selection, and then displaying the pre-flight trajectory on the map, the user can intuitively view the real-time location and pre-flight trajectory of the drone through the map, and further Improved the practicality of this method.

Figure 19 is a schematic flow chart of an image display method provided by an embodiment of the present invention. Referring to Figure 19, this embodiment provides an image display method. The execution subject of the image display method can be an image display device. Specifically, , the image display device can be implemented as a control terminal, that is, the image display method can be applied to the control terminal, and the control terminal is used to control the drone. In order to realize the QuickShot shooting function, the drone can include a device for carrying images. The pan/tilt of the acquisition device, wherein the image acquisition device can be a camera, a video camera, a mobile phone with an image shooting function, a tablet computer or other equipment, etc., the pan/tilt can include a three-axis pan/tilt, and the three-axis pan/tilt can include a driver for driving A first motor for rotating the image acquisition device around a first axis (yaw axis-yaw axis), a second motor for driving the image acquisition device to rotate around a second axis (roll axis-roll axis), and a second motor for driving image acquisition The device is equipped with a third motor that rotates around a third axis (pitch axis-pitch axis). It can be understood that the type of the pan/tilt can be not only a three-axis pan/tilt, but also a four-axis pan/tilt. For pan/tilts of different structural types, the pan/tilt can include different structural components. Those skilled in the art can determine the type according to the specific requirements. PTZ type to set the specific structure included in the PTZ, which will not be described again here. Specifically, the image display method may include:

Step S1901: Obtain the real-time collected image of the image collecting device.

Among them, during the flight operation of the UAV, the image acquisition device on the UAV can be used to photograph the target object, so that real-time collected images corresponding to the target object can be obtained. In order to enable the user to understand the target object in a timely manner When the target object is photographed, the control terminal can obtain the real-time collection image of the image collection device. Specifically, the control terminal can actively or passively obtain the real-time collection image of the image collection device through the image collection device.

Step S1902: Determine the device posture of the image acquisition device and the terminal posture of the control terminal.

During the process of photographing the target object, the posture of the image collection device may change. For example, at time t1, the posture of the image collection device is a horizontal shooting posture; at time t2, the posture of the image collection device is a vertical posture. Shooting pose. When the device attitude of the image acquisition device changes, the image attitude of the real-time collected image obtained by the image acquisition device will also change. In order to make the image attitude displayed on the control terminal consistent with the device attitude of the image acquisition device, After acquiring the real-time captured image of the image capturing device, the device posture of the image capturing device and the terminal posture of the control terminal can be determined.

Specifically, this embodiment does not limit the implementation of determining the device posture of the image acquisition device. Those skilled in the art can configure it according to specific application scenarios or application requirements. In some examples, determining the device posture of the image acquisition device can be It includes: obtaining the device attitude of the image acquisition device through an inertial measurement unit provided on the image acquisition device. In other examples, since the image acquisition device is located on the cloud platform, the device posture of the image capture device is closely related to the posture of the cloud platform. Therefore, determining the device posture of the image collection device may include: obtaining the posture information of the cloud platform, based on the cloud platform The attitude information is used to determine the device attitude of the image acquisition device, thereby effectively ensuring the accuracy and reliability of determining the device attitude of the image acquisition device.

Similarly, this embodiment does not limit the method of determining the terminal posture of the control terminal. Those skilled in the art can configure it according to specific application scenarios or application requirements. In some examples, determining the terminal posture of the control terminal may include: The terminal posture of the control terminal is obtained through an inertial measurement unit or sensing device (angle sensor, etc.) provided on the control terminal.

Step S1903: Based on the device posture and the terminal posture, determine the image display posture corresponding to the real-time collected image to ensure that the image screen seen by the user is in the forward direction.

After the device posture and terminal posture are obtained, the device posture and terminal posture can be analyzed and processed to determine the image display posture corresponding to the real-time collected image to ensure that the image screen seen by the user is forward. In some examples, based on the device posture and the terminal posture, determining the image display posture corresponding to the real-time collected image may include: obtaining a machine learning model for determining the image display posture, and inputting the device posture and the terminal posture into the machine learning model. , so that the image display posture corresponding to the real-time collected image can be obtained to ensure that the image screen seen by the user is forward.

In other examples, based on the device posture and the terminal posture, determining the image display posture corresponding to the real-time collected image may include: performing rotation correction on the real-time collected image based on the device posture to obtain the image display posture, and the image display posture is consistent with the terminal posture. consistent.

Specifically, after obtaining the device posture and the terminal posture, it can be identified whether the device posture and the terminal posture are consistent. When the device posture and the terminal posture are consistent, it means that the real-time acquisition image displayed on the control terminal at this time is forward. Since the image the user sees is in the forward direction, there is no need to make any adjustments to the real-time captured image at this time; when the posture of the device is inconsistent with the posture of the terminal, because the real-time captured image displayed on the control terminal is not in the forward direction, therefore, In order to enable the user to see the forward image by controlling the terminal, the real-time collected image can be rotated and corrected based on the device posture to obtain the image display posture. The obtained image display posture is consistent with the terminal posture, which ensures that the user sees The image you get is in the forward direction.

In specific implementation, taking a handheld remote controller as a control terminal as an example, the handheld remote controller is provided with a display module, through which the real-time collected images collected by the image collection device can be displayed. Specifically, when the pan/tilt is in the horizontal or vertical position switching In the shooting mode, the image acquisition device has a shooting process of switching between horizontal and vertical frames, which easily causes the image transmission screen to rotate with the rotation of the Roll axis of the gimbal. As shown in Figure 20, at time t1, the device holding the remote control The posture is the first device posture. At this time, the hand-held remote controller can obtain the real-time collection image obtained by the image acquisition device. The real-time collection image is the first image display posture; at time t2, the device posture of the hand-held remote control is the first device posture. At this time, the hand-held remote controller can obtain the real-time collected image obtained by the image collection device, and the real-time collected image is the second image display posture. It can be seen from the figure that the first image display posture is different from the second image display posture. That is, during the shooting process of the image acquisition device switching between horizontal and vertical directions, at a certain stage, there will be real-time acquisition of images and observation of the normal state of holding the handheld remote control. The perspective doesn't match.

In order to solve the above technical problems, this embodiment provides a new interactive form of image transmission. Referring to Figure 21, when an image acquisition device is used to perform a rotation shooting operation on a certain mountain peak, a real-time shooting image of the mountain peak can be obtained. At time t1, a vertical image can be obtained, and then the display module in the handheld remote control can be used to display the vertical image synchronously; at time t2-t3, when the image acquisition device is used for rotation shooting operation, the display module in the handheld remote control can The display module can synchronously rotate the obtained real-time shooting image, thereby realizing the synchronous alignment of the pan/tilt angle and the image display posture of the real-time shooting image, so that the content of the real-time shooting image is always at the correct viewing angle.

The image display method provided in this embodiment determines the device posture of the image collection device and the terminal posture of the control terminal by obtaining the real-time collection image of the image collection device, and then determines the image display corresponding to the real-time collection image based on the device posture and the terminal posture. posture to ensure that the image the user sees is in the forward direction. This solves the problem of skewed images in the image transmission when shooting camera movements with gimbal movements, thereby ensuring the observability of the image transmission during the entire shooting process, and also During the shooting stage, it more intuitively displays the effect of the final film viewing, and can simulate the changing effects of the drone's lens, allowing users to have a better image transmission observation experience when shooting such movements, and further The practicability of the image display method is improved and is conducive to market promotion and application.

In specific applications, this application embodiment provides a control method for a drone, which can realize automatic decoupling control operations on the drone, gimbal and image acquisition device, allowing users to more flexibly define The pre-flight trajectory of the drone and the gimbal movement can be used to obtain richer material shooting effects; at the same time, a QuickShot shooting mode with obvious subject and environment display suitable for mobile viewing is also proposed. In addition, this Embodiments can also realize target recognition, target position estimation, flight trajectory and gimbal trajectory selection, image transmission interface display, etc. Specifically, as shown in Figure 22, the implementation solution of the shooting combination that decouples the flight trajectory from the gimbal movement may include the following steps:

Step S1.1: Flight trajectory selection operation.

Display the function switching panel. The function switching panel includes the one-click short video function used to implement the QuickShot function. After the user selects the QuickShot (one-click short video) function on the function selection panel, the user can select the flight path. After selecting the flight path, the user can Display the animation, video effects and text description of the flight path to help users understand the flight camera effect of the selected flight path.

It should be noted that when the user does not select a flight trajectory in the function selection panel, the first flight trajectory can be selected by default in the function switching panel, and a display effect video corresponding to the default flight estimate can be displayed in the function switching panel. When the user is not satisfied with the flight trajectory selected by default, he can perform a trajectory switching operation in the function selection panel, and then the display effect video corresponding to the switched flight trajectory can be displayed in the function switching panel; if the user is satisfied with the flight trajectory selected by default When flying along the trajectory, the function selection panel can be folded and the next function display page can be displayed to realize the target object selection operation.

In addition, for the flight trajectory, the user can adjust or configure the distance information and altitude information of the flight trajectory according to the needs; for example: when selecting the flight trajectory, the current position of the drone can be determined first, and the starting point of the flight trajectory can be The current position of the drone (the starting point of the drone), and then the flight distance corresponding to the flight trajectory can be calculated based on the current position of the drone and the target position.

Step S1.2: Select target.

After selecting the flight trajectory used to control the UAV, the function switching panel can be folded, and then the interface for selecting the target can be displayed, and then the user can be guided through information to click or select the target, as shown in Figure 23-Figure 24 As shown in the figure, the user can select a target by drawing a frame with his finger or clicking on the target mark. The selected target can be an open space, a forest, a person, a vehicle, a paddle, a sea, etc.

After the user selects the goal, the interface used to achieve the selected goal can be automatically closed, or the user can manually close the interface used to achieve the selected goal. For example, the user can click on a blank area in the interface to close the interface used to achieve the selected goal. interface.

Step S1.3: Parameter setting of flight trajectory and gimbal control parameters.

Among them, after selecting the target, the user can freely set the parameters used to shoot the target. The parameters used to shoot the target can include two types of options: "flight trajectory parameters" and "PTZ control parameters". Specifically, flight Trajectory parameters refer to parameters related to the flight trajectory, such as: flight distance, flight height, orbiting direction, etc.; gimbal control parameters can refer to the direction and movement of the gimbal during shooting, such as: static banner shooting, static vertical shooting , horizontal and vertical shooting, and other static or dynamic rotations at any angle, such as: horizontal to vertical, 30° counterclockwise, 30° clockwise, etc.

It should be noted that the movement of the gimbal represents the rotation of the camera gimbal in reality and the camera module is placed in a horizontal, vertical, or horizontal and vertical switching dynamic motion, as shown in Figure 25, the action of static banner shooting It can make the camera module be placed in the horizontal position; as shown in Figure 26, the action of horizontally and vertically shooting can make the camera move dynamically to switch between horizontal and vertical; as shown in Figure 27, the action of static vertical shooting can make the camera module be placed in the horizontal position. in the vertical direction.

In addition, when selecting the gimbal control parameters, the gimbal control parameters can be determined based on the type of flight trajectory. For example, for the soaring flight trajectory and spiral flight trajectory that are gradually getting further and further away, the gimbal control parameters can be determined to switch between horizontal and vertical directions. lens movement parameters.

After completing the setting operation of the flight trajectory parameters and gimbal control parameters, the user can freely match the flight trajectory and gimbal control parameters, thereby deriving different shooting results with the number of flight trajectories × gimbal control parameters. This is extremely It greatly enriches the style and effect of the finished film. Especially for the newly added various gimbal movements (for example: vertical and horizontal gimbal movements, tilting gimbal movements, etc.), being able to match different flight trajectories can produce more novel film effects, for example: matching with objects far away from the target The video shooting effect is best when the trajectory is (distance, soaring, spiral, etc.), which can achieve a very impactful visual effect of highlighting the main target in the vertical screen and showing the broad environment in the horizontal screen; and with the surrounding target Trajectories (circling, spiral, comet, etc.) can also achieve an interactive and fresh content viewing experience, giving users a certain sense of participation, further improving the flexibility and reliability of this method.

It should be noted that the method of selecting the combination of flight trajectory and gimbal action is not limited to the above-mentioned "select the flight trajectory first, then select the gimbal action". You can also select the gimbal action first, then select the flight trajectory, or select both at the same time. Match and select combinations of flight trajectories and gimbal movements.

Step S1.4: Control the drone to perform shooting operations based on the configured flight trajectory, flight trajectory parameters and gimbal control parameters.

A display interface for controlling the drone can be displayed on the display interface of the control terminal. A shutter button for starting shooting can be displayed on the display interface. The user can click the shutter button to start shooting. The shutter progress bar will be displayed during shooting. Shooting progress, and the shutter button supports clicking to cancel shooting. It should be noted that when the gimbal action option is in the "vertical to horizontal" type, the image transmission display form of the shooting process will be different.

Since in the content captured in QuickShot mode, usually the two most important parts displayed by the user are the characters (or main objects) and the environment, the vertical-to-horizontal shooting mode can bring the greatest content value and can When viewed on a mobile terminal, the contrast between the character (or subject) and the environment is greatly highlighted, further improving the practicality of this method.

In specific implementation, when controlling the drone to perform shooting operations based on the flight trajectory, flight trajectory parameters and gimbal control parameters, if it is necessary to achieve vertical and horizontal shooting movements, there are two main ways to achieve the above preset operations. Mirror effect: (1) Achieved by gradually rotating the gimbal Roll axis during early shooting; (2) Achieved by controlling the rotation and scaling of the cropping range in the later period.

The implementation method in this application embodiment is mainly through the above-mentioned implementation method (1). Specifically, by rotating the Roll axis of the gimbal in the early stage for shooting, it can ensure that the picture is not cropped, that is, there is no loss of image quality, and clearer images can be achieved. Film quality. At this time, the entire shooting process can be divided into three stages: (a) vertical shooting stage; (b) rotation stage; (c) horizontal shooting stage, specifically:

(a) In the vertical shooting stage, the gimbal will continue to shoot vertically for a period of time, during which time the details of the character (or subject) will be highlighted. In this link, the distance between the drone and the person (or subject) should be relatively close.

(b) During the rotation phase, the gimbal will gradually rotate from vertical shooting to horizontal shooting. This period lasts for about 5 seconds. The above time is reserved for the user to rotate the display device while watching, because it is necessary to take into account the beauty of the captured video at the same time. In terms of speed and efficiency, the above duration can be controlled at about 5 seconds, and the distance between the drone and the person (or main object) should be gradually moving away.

(c) In the horizontal shooting phase, the gimbal will continue to shoot horizontally for a period of time, during which time the environmental information of the person (or main object) is displayed. In the above stage, the drone and the person (or main object) ) should be relatively far apart. At the same time, when composing a photo of a person, the person (or subject) can be appropriately placed in the lower third of the screen to highlight the background environmental information.

Through the above shooting operation, it can be realized that the details of the characters (or main objects) can be displayed more clearly with a larger display area in the vertical screen, and the environmental information can be displayed more comprehensively with a wider field of view in the horizontal screen. Refer to the attached figure. 28-Figure 29 shows a comparison of the experience of viewing the main target and part of the environment content on the mobile terminal in the prior art and this embodiment respectively. Obviously, compared with the implementation of the prior art, this implementation The implementation method in the example effectively maximizes the use of the display area of the screen and can improve the user's immersion in watching the captured video.

Step S1.5: The shooting is completed and the shooting video is obtained.

After completing the shooting operation, the drone can be controlled to automatically return to the starting point of the shooting, and a "returning" prompt will be displayed during the process. At the same time, the user can also manually interrupt the return process and end the task. In addition, the captured video can be obtained through the image collection device on the drone, and the captured video can be cached in the drone or the local terminal, so that the user can view the captured video stored on the local terminal through the video display device.

It should be noted that for the "vertical-to-horizontal" type of shooting movement or the "horizontal-to-vertical" type of shooting movement, this type of shooting movement can be used to shoot videos viewed on the mobile terminal in the vertical direction. The video content effect starts with the target details of the subject being displayed on the screen and ends with the broad environment displayed on the horizontal screen. The trajectory type that this type of shooting lens is mainly used for is that the starting distance is closer to the target and the landing distance is farther from the target. Trajectories, such as: receding flight trajectories, orbiting flight trajectories, etc.

In addition, after the captured video is obtained, the captured video can be displayed. At this time, this embodiment provides a method for displaying the captured video. Specifically, with reference to Figures 30-31, the display device can be used to display the captured video. The video is played and displayed, including the following processes:

When the display device is used to play and display the captured video, the picture can first be displayed from a vertical image (to meet the state of social media browsing or natural hand-holding). At this time, the display picture fills the screen, and at the same time, the person or subject occupies the screen. Larger proportion, can clearly show the details of characters or main objects.

As the video content is played back, at a certain moment, an animation prompt will appear on the screen. The animation prompt is used to prompt the user to rotate the display device (not necessary). The screen content in the video will also start to rotate at this time, and the user will follow Guided gradual rotation of the device (which can be clockwise or counterclockwise) will keep the content oriented correctly for the viewer.

As the video footage is gradually zoomed out (not necessary, but it works best with the gradually zooming out flight path), more details of the environment will be displayed in the video footage. Finally, the user rotates the display device to the horizontal orientation, and the video screen can also show all the environmental details, showing the environment where the character or subject is located through a wider field of view, and ending the entire content. It is understandable that the combination between the camera movement of the gimbal and the flight trajectory can be any way, and it is not limited to the starting point needing to be close to the character (or main object) and the end point needing to be far away from the character (or main object).

In the above implementation, by always keeping the video content filling the screen when playing on the mobile terminal, the screen display area is effectively maximized and the viewing immersion is improved. At the same time, because the user is required to have a certain amount of interaction (rotating the screen direction) during the viewing process, it also improves the user's participation in watching to a certain extent, bringing an interactive and novel viewing experience.

In addition, after acquiring the shooting video obtained by the image acquisition device on the drone, this application embodiment can also perform post-processing on the shooting video, which may include conventional QuickShot adding soundtrack, filters and ending LOGO processing. Rotation device prompts and video playback speed controls will also be added to achieve an optimal viewing experience. Specifically, when adding prompt information to a captured video, the prompt information is usually a type of picture or animated sticker suspended above the content, or it can also be in the form of text, as shown in Figures 32-33. When specifically adding rotation prompt information , a prompt can appear about 2 seconds before the rotation phase appears, so as to inform the user in advance that the content will be rotated next, and they need to be mentally prepared. After the rotation phase is over, the added rotation prompt information can automatically disappear.

In addition, in order to enable the captured video to meet the shooting effect needs of different users, the playback speed of the captured video can also be adjusted or configured. In some instances, the control of the playback speed of the captured video usually follows but is not limited to the following principles: Vertical Playback is maintained at 1x speed during the shooting phase and rotation phase; the horizontal shooting phase is divided into two sections: acceleration section and normal speed section: the acceleration section can be accelerated playback, depending on the total duration, usually 2x to 4x speed , the normal speed section is 1x speed.

Under the above speed principle, the effect that will appear in the finished video is: first display the character (or subject) at a relatively close position at a constant speed, and then display the gradual rotation process through a relatively soft speed, during which the camera zooms out . After the rotation is completed, the speed of the aircraft suddenly accelerates and returns to normal speed at a relatively far position, creating a visual impact. Finally, it ends at normal speed at a far distance, creating a sense of ending. On the whole, the beginning and end of a video will be better expressed.

It should be noted that the post-processing of video shooting is not limited to the specifications described above, and should include supporting any way of accelerated and decelerated playback, rotating device prompts (or no prompts), or supporting changing the final video by switching templates. Any combination of soundtracks, filters, sticker packs, endings, and prompts.

The technical solution provided by this application embodiment uses a decoupled combination of flight trajectory and gimbal action, which greatly expands the diversity of shooting results, allowing the QuickShot function to provide users with richer creative possibilities; in addition, A new "vertical-to-horizontal" camera movement mode is proposed, which brings a new form of video content shooting for mobile viewing, increasing the richness and enjoyment of the finished film; in addition, through the provided images The transmission interaction solution effectively solves the problem of skewed image transmission images when shooting camera movements with gimbal movements, allowing users to have a better image transmission observation experience when shooting such movements, further improving the efficiency of this method. Practical, conducive to market promotion and application.

Figure 34 is a schematic structural diagram of a drone provided by an embodiment of the present invention; with reference to Figure 34, this embodiment provides a drone that can communicate with a control terminal. The drone It includes a pan/tilt for carrying an image acquisition device; and, the UAV is capable of executing the control method of the UAV shown in Figure 2. Specifically, the UAV may include:

Memory 3402, used to store computer programs;

Processor 3401, used to run the computer program stored in memory 3402 to implement:

Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also set by the user;

Automatically control the drone to move according to the pre-flight trajectory;

Automatically control the PTZ and image acquisition device to shoot the target object according to the PTZ control information.

Among them, the structure of the drone may also include a communication interface 3403 for the electronic device to communicate with other devices or communication networks.

The UAV shown in Figure 34 can also implement the methods of the embodiments shown in Figures 1 to 13 and Figure 22 to Figure 33. The implementation methods and implementation effects are similar. For parts not described in detail in this embodiment, please refer to Relevant descriptions of the embodiments shown in Figures 1 to 13 and 22 to 33. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figures 1 to 13 and 22 to 33, and will not be described again here.

Figure 35 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention; with reference to Figure 35, this embodiment provides a control terminal, which is used to control a drone. The drone includes A pan/tilt equipped with an image acquisition device; in addition, the control terminal can execute the control method of the drone shown in Figure 14. Specifically, the control terminal may include:

Memory 3502, used to store computer programs;

Processor 3501, used to run the computer program stored in memory 3502 to implement:

Display drone trajectory selection controls and gimbal control controls;

The pre-flight trajectory of the drone is generated based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone;

The PTZ control information is generated based on the user's operation of the PTZ control control. The PTZ control information is used to control the PTZ and the image acquisition device to shoot the target object;

Send pre-flight trajectory and gimbal control information to the drone to automatically control the drone.

The structure of the control terminal may also include a communication interface 3503 for the electronic device to communicate with other devices or communication networks.

The control terminal shown in Figure 35 can also implement the methods of the embodiments shown in Figures 14 to 18 and Figure 22 to Figure 33 in a similar manner and effect. For parts not described in detail in this embodiment, please refer to the Figures 14-Related descriptions of the embodiments shown in Figures 18 and 22-33. For the execution process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figures 14 to 18 and 22 to 33, and will not be described again here.

Figure 36 is a schematic structural diagram of an image display device provided by an embodiment of the present invention. Referring to Figure 36, this embodiment provides an image display device. The image display device can be applied to a control terminal. The control terminal is used for Control an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a pan/tilt for carrying an image collection device; in addition, the image display device can perform the image display method shown in Figure 19. Specifically, the image display device may include:

Memory 3602, used to store computer programs;

Processor 3601, used to run the computer program stored in memory 3602 to implement:

Obtain real-time captured images from the image capture device;

Determine the device posture of the image acquisition device and the terminal posture of the control terminal;

Based on the posture of the device and the posture of the terminal, the image display posture corresponding to the real-time collected image is determined to ensure that the image screen seen by the user is forward.

The structure of the image display device may also include a communication interface 3603 for the electronic device to communicate with other devices or communication networks.

The image display device shown in FIG. 36 can also implement the method and effect similar to the embodiment shown in FIGS. Description of the embodiment. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figures 19 to 33, and will not be described again here.

Figure 37 is a schematic structural diagram of an unmanned aerial vehicle system provided by an embodiment of the present invention. Referring to Figure 37, this embodiment provides an unmanned aerial vehicle system that can realize target object detection. Filming operations, specifically, UAV systems can include:

The UAV 3701 in the embodiment corresponding to the above Figure 34;

The control terminal 3702 is connected to the UAV 3701 for communication and is used to control the UAV 3701.

The implementation method and effect of the UAV system in this embodiment are similar to the implementation method and effect of the UAV 3701 in the embodiment shown in Figure 34. For parts that are not described in detail in this embodiment, please refer to the figure. Relevant description of the embodiment shown in 34. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figure 34, and will not be described again here.

Figure 38 is a schematic structural diagram 2 of an unmanned aerial vehicle system provided by an embodiment of the present invention; with reference to Figure 38, this embodiment provides an unmanned aerial vehicle system that can realize target objects. Filming operations, specifically, UAV systems can include:

Drone 3801;

The control terminal 3802 in the embodiment shown in the above-mentioned FIG. 35 is connected to the drone 3801 for communication and is used to control the drone 3801.

The implementation method and effect of the UAV system in this embodiment are similar to the implementation method and effect of the control terminal 3802 in the embodiment shown in Figure 35. For the parts not described in detail in this embodiment, please refer to Figure 35 Description of the embodiment shown. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figure 35, and will not be described again here.

Figure 39 is a schematic structural diagram 3 of an unmanned aerial vehicle system provided by an embodiment of the present invention; with reference to Figure 39, this embodiment provides an unmanned aerial vehicle system, which can realize target objects. Filming operations, specifically, UAV systems can include:

Drone 3901;

The image display device 3902 in the embodiment shown in FIG. 36 is connected to the drone 3901 for communication and is used to obtain the video to be displayed through the drone 3901.

The implementation and implementation effects of the UAV system in this embodiment are similar to the implementation and implementation effects of the image display device 3902 in the embodiment shown in Figure 36. For parts that are not described in detail in this embodiment, please refer to the figure. Relevant description of the embodiment shown in 36. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figure 36, and will not be described again here.

Embodiments of the present invention provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used to implement the above-mentioned Figures 1-13 and 22- The control method of the UAV in Figure 33.

Embodiments of the present invention provide a computer program product, including: a computer program. When the computer program is executed by a processor of an electronic device, the processor is caused to execute the method embodiments shown in FIGS. 1-13 and 22-33. UAV control method.

Embodiments of the present invention provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used to implement the above-mentioned Figures 14-18 and 22- The control method of the UAV in Figure 33.

Embodiments of the present invention provide a computer program product, including: a computer program. When the computer program is executed by a processor of an electronic device, the processor is caused to execute the method embodiments shown in FIGS. 14-18 and 22-33. UAV control method.

Embodiments of the present invention provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used to implement the image display method of Figures 19-33. .

Embodiments of the present invention provide a computer program product, including: a computer program. When the computer program is executed by a processor of an electronic device, the processor is caused to execute the image display method in the method embodiments shown in FIGS. 19-33.

The technical solutions and technical features in each of the above embodiments can be used alone or in combination if they conflict with the present application. As long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present application. .

In the several embodiments provided by the present invention, it should be understood that the disclosed related detection devices and methods can be implemented in other ways. For example, the detection device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. can be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the detection device or unit may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer processor (processor) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.

The above are only examples of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related technologies fields are equally included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. scope.

Claims (102)

A method of controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle can communicate with a control terminal, and the unmanned aerial vehicle includes a cloud platform for carrying an image acquisition device. The method includes: Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also Set by user; Automatically control the UAV to move according to the pre-flight trajectory; The pan-tilt and the image acquisition device are automatically controlled to photograph the target object according to the pan-tilt control information. The method according to claim 1, characterized in that obtaining the preset working mode includes: Obtain the shooting mode of the gimbal, the shooting mode is determined by the user's selection, the shooting mode includes the posture of the gimbal when shooting; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The method of claim 2, wherein the user's selection is determined based on the user's operation on a screen, and the screen can display all shooting modes that the pan/tilt can achieve. The method of claim 2, wherein the user's selection is determined based on the user's operation of a screen, and the screen can display a shooting mode that matches the pre-flight trajectory of the drone. The method according to claim 4, characterized in that the distances between adjacent trajectory points in the pre-flight trajectory and the target object are different, and the matching shooting mode includes horizontal and vertical frame switching shooting. The method according to claim 5, characterized in that the distance between adjacent trajectory points in the pre-flight trajectory and the target object gradually increases, and the matching shooting mode includes a vertical to horizontal shooting mode. . The method according to claim 5, characterized in that the distance between adjacent trajectory points in the pre-flight trajectory and the target object gradually decreases, and the matching shooting mode includes a horizontal to vertical shooting mode. . The method of claim 2, wherein the user's selection is determined based on the user's operation of a screen, and the screen is capable of displaying a shooting mode that matches the target object. The method of claim 8, wherein a matching shooting mode is recommended to the user based on the length and width of the target object on the screen. The method according to claim 9, characterized in that: When the aspect ratio of the target object is greater than the first threshold, the matching shooting mode includes banner shooting; When the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; When the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, the matching shooting mode includes horizontal and vertical frame switching shooting. The method according to claim 9, characterized in that: When the length of the target object is greater than the width, the matching shooting modes include banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the length of the target object is less than or equal to the width, the matching shooting mode includes vertical shooting. The method according to claim 9, characterized in that: The length and width of the target object on the screen include the length and width of the identified outline of the target object on the screen, or the length and width of the selection identification box of the target object selected by the user. The method according to claim 2, characterized in that determining the pan/tilt control information according to the shooting mode of the pan/tilt includes: Get the pre-shooting duration; The pan/tilt control information is determined according to the pre-shooting duration and the shooting mode. The method according to claim 13, characterized in that determining the pan/tilt control information according to the pre-shooting duration and the shooting mode includes: When the shooting mode is horizontal and vertical switching shooting, the respective corresponding times of pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting are determined according to the pre-shooting duration; The pan/tilt control information is determined based on the respective corresponding times of the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The method according to claim 14, characterized in that determining the respective corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting based on the pre-shooting duration includes: Determine the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; Determine the second preset time period in the preset shooting duration information as the time corresponding to vertical rotation and horizontal switching shooting; Determine the third preset period in the preset shooting duration information as the time corresponding to horizontal shooting; The first preset period, the second preset period and the third preset period constitute the preset shooting duration. The method according to claim 2, characterized in that determining the pan/tilt control information according to the shooting mode of the pan/tilt includes: Obtain pre-flight distance information of the UAV; Based on the distance information and the shooting mode, the pan/tilt control information is determined. The method according to claim 2, characterized in that determining the pan/tilt control information according to the shooting mode of the pan/tilt includes: Obtain the proportion information of the target object in the picture; The pan/tilt control information is determined based on the proportion information and the shooting mode. The method according to claim 2, characterized in that the shooting mode includes at least any one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, and preset angle shooting. The method of claim 1, further comprising: A corresponding photographed video is generated based on the content photographed by the image acquisition device. The method of claim 19, further comprising: Obtain the image type of each video frame in the captured video, wherein the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image; A playback speed for displaying each of the video frames is determined based on the image type. The method according to claim 20, characterized in that, according to the image type, determining the playback speed for displaying each of the video frames includes: When the image type is one of a vertical image, a horizontal-to-vertical switching image, or an oblique image, determine the playback speed used to display each of the video frames as the first speed; When the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined to be the second speed, and the playback speed of each video frame in the back-end image set is determined to be the second speed. The playback speed of each video frame in the segment image set is the first speed, Wherein, the second speed is greater than the first speed. The method according to claim 19, characterized in that generating a corresponding photographed video based on the content photographed by the image acquisition device includes: Obtain the original video, which is obtained by the image collection device based on banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the original video is roughly switched between horizontal and vertical widths, a rotation prompt icon is added to generate a target video to prompt the user to rotate the display device when watching the target video. The method of claim 1, further comprising: Obtain the pre-flight trajectory determined based on the user's selection; Display the pre-flight trajectory on the map. The method according to claim 22, characterized in that displaying the pre-flight trajectory on a map includes: Obtain the real-time location of the drone; The real-time location of the drone and the pre-flight trajectory are displayed on the map. The method according to claim 1, characterized in that automatically controlling the pan/tilt and the image acquisition device to photograph the target object according to the pan/tilt control information includes: The roll axis on the pan/tilt is controlled according to the pan/tilt control information, so that the image acquisition device reaches a corresponding shooting mode, and the shooting operation is performed based on the achieved shooting mode. The method of claim 1, further comprising: Obtain the original video, which is obtained by the image collection device based on banner shooting, vertical shooting, and horizontal and vertical switching shooting; The original video is sent to the control terminal, so that the control terminal is used to generate a target video, and the target video is generated based on the original video. A method for controlling an unmanned aerial vehicle, which is characterized in that it is applied to a control terminal, and the control terminal is used to control an unmanned aerial vehicle. The unmanned aerial vehicle includes a pan/tilt for carrying an image acquisition device. The method is include: Display drone trajectory selection controls and gimbal control controls; Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone; PTZ control information is generated based on the user's operation of the PTZ control control, and the PTZ control information is used to control the PTZ and the image acquisition device to perform shooting operations on the target object; The pre-flight trajectory and the gimbal control information are sent to the UAV to automatically control the UAV. The method according to claim 27, characterized in that displaying the drone trajectory selection control and the pan/tilt control control includes: Display the drone trajectory selection control; After obtaining the user's operation on any drone trajectory selection control, the pan/tilt control control is displayed to obtain the user's operation on the pan/tilt control control. The method according to claim 27, characterized in that generating PTZ control information based on the user's operation of the PTZ control control includes: Based on the user's operation of the gimbal control control, display all shooting modes that the gimbal can achieve; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The method according to claim 27, characterized in that generating PTZ control information based on the user's operation of the PTZ control control includes: Based on the user's operation of the gimbal control control, display a shooting mode that matches the pre-flight trajectory of the drone; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The method according to claim 27, characterized in that generating PTZ control information based on the user's operation of the PTZ control control includes: Based on the user's operation of the pan/tilt control control, display a shooting mode that matches the target object; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The method according to claim 31, characterized in that displaying a shooting mode matching the target object includes: Obtain the length and width of the target object on the screen; Based on the length and width of the target object on the screen, a shooting mode recommended for the user that matches the target object is displayed. The method according to claim 32, characterized in that: When the aspect ratio of the target object is greater than the first threshold, the matching shooting mode includes banner shooting; When the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; When the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, the matching shooting mode includes horizontal and vertical frame switching shooting. The method according to claim 32, characterized in that: When the length of the target object is greater than the width, the matching shooting modes include banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the length of the target object is less than or equal to the width, the matching shooting mode includes vertical shooting. The method according to claim 32, characterized in that: The length and width of the target object on the screen include the length and width of the identified outline of the target object on the screen, or the length and width of the selection identification box of the target object selected by the user. The method according to claim 29, characterized in that determining the pan/tilt control information according to the shooting mode of the pan/tilt includes: Get the pre-shooting duration; The pan/tilt control information is determined according to the pre-shooting duration and the photography mode of the pan/tilt. The method according to claim 36, characterized in that determining the pan/tilt control information according to the pre-shooting duration and the shooting mode of the pan/tilt includes: When the shooting mode is horizontal and vertical switching shooting, the respective corresponding times of pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting are determined according to the pre-shooting duration; The pan/tilt control information is determined based on the respective corresponding times of the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The method according to claim 37, characterized in that determining the respective corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting and horizontal shooting according to the pre-shooting duration includes: Determine the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; Determine the second preset time period in the preset shooting duration information as the time corresponding to vertical rotation and horizontal switching shooting; Determine the third preset period in the preset shooting duration information as the time corresponding to horizontal shooting; The first preset period, the second preset period and the third preset period constitute the preset shooting duration. The method according to claim 29, characterized in that determining the pan/tilt control information according to the shooting mode of the pan/tilt includes: Display the distance information of the drone's pre-flight; The pan-tilt control information is determined based on the distance information and the shooting mode of the pan-tilt. The method of claim 29, further comprising: Obtain the original video from the image collection device, where the original video is obtained by the image collection device based on horizontal shooting, vertical shooting and horizontal and vertical switching shooting; A corresponding target video is generated based on the content of the original video. The method of claim 40, further comprising: Obtain the image type of each video frame in the original video, where the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image; A playback speed for displaying each of the video frames is determined based on the image type. The method according to claim 41, characterized in that, according to the image type, determining the playback speed for displaying each of the video frames includes: When the image type is one of a vertical image, a horizontal-to-vertical switching image, or an oblique image, determine the playback speed used to display each of the video frames as the first speed; When the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined to be the second speed, and the playback speed of each video frame in the back-end image set is determined to be the second speed. The playback speed of each video frame in the segment image set is the first speed, Wherein, the second speed is greater than the first speed. The method according to claim 40, characterized in that generating a corresponding target video based on the content of the original video includes: When the original video is roughly switched between horizontal and vertical widths, a rotation prompt icon is added to generate a target video to prompt the user to rotate the display device when watching the target video. The method according to claim 29, characterized in that the shooting mode includes at least any one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, and preset angle shooting. The method of claim 27, further comprising: Obtain the pre-flight trajectory determined based on the user's selection; Display the pre-flight trajectory on the map. The method according to claim 45, characterized in that displaying the pre-flight trajectory on a map includes: Obtain the real-time location of the drone; The real-time location of the drone and the pre-flight trajectory are displayed on the map. An image display method, characterized in that it is applied to a control terminal, and the control terminal is used to control an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a pan/tilt for carrying an image acquisition device, and the method includes : Obtain real-time collected images of the image collecting device; Determine the device posture of the image acquisition device and the terminal posture of the control terminal; Based on the device posture and the terminal posture, an image display posture corresponding to the real-time collected image is determined to ensure that the image picture seen by the user is in a forward direction. The method according to claim 47, characterized in that, based on the device posture and the terminal posture, determining the image display posture corresponding to the real-time collected image includes: Rotation correction is performed on the real-time collected image based on the device posture to obtain the image display posture, so that the image display posture is consistent with the terminal posture. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle can communicate with a control terminal, and the unmanned aerial vehicle includes a cloud platform for carrying an image collection device; the unmanned aerial vehicle includes: Memory, used to store computer programs; A processor configured to run a computer program stored in the memory to: Obtain the target object to be photographed and the preset working mode. The working mode includes the pre-flight trajectory and gimbal control information of the drone. The pre-flight trajectory is set by the user, and the gimbal control information is also Set by user; Automatically control the UAV to move according to the pre-flight trajectory; The pan-tilt and the image acquisition device are automatically controlled to photograph the target object according to the pan-tilt control information. The UAV according to claim 49, wherein when the processor acquires the preset working mode, the processor is configured to: Obtain the shooting mode of the gimbal, the shooting mode is determined by the user's selection, the shooting mode includes the posture of the gimbal when shooting; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The drone according to claim 50, wherein the user's selection is determined based on the user's operation of the screen, and the screen can display all shooting modes that the gimbal can achieve. The UAV according to claim 50, characterized in that the user's selection is determined based on the user's operation of the screen, and the screen can display shots that match the pre-flight trajectory of the UAV. model. The UAV according to claim 52, characterized in that the distances between adjacent track points in the pre-flight trajectory and the target object are different, and the matching shooting mode includes horizontal and vertical switching shooting. The UAV according to claim 53, characterized in that the distance between adjacent trajectory points in the pre-flight trajectory and the target object gradually increases, and the matching shooting mode includes vertical to horizontal. Shooting mode. The UAV according to claim 53, characterized in that the distance between adjacent trajectory points in the pre-flight trajectory and the target object gradually decreases, and the matching shooting mode includes turning from banner to vertical. Shooting mode. The drone according to claim 50, wherein the user's selection is determined based on the user's operation of a screen, and the screen can display a shooting mode that matches the target object. The drone of claim 56, wherein a matching shooting mode is recommended to the user based on the length and width of the target object on the screen. The UAV according to claim 57, characterized in that, When the aspect ratio of the target object is greater than the first threshold, the matching shooting mode includes banner shooting; When the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; When the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, the matching shooting mode includes horizontal and vertical frame switching shooting. The UAV according to claim 57, characterized in that, When the length of the target object is greater than the width, the matching shooting modes include banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the length of the target object is less than or equal to the width, the matching shooting mode includes vertical shooting. The UAV according to claim 57, characterized in that, The length and width of the target object on the screen include the length and width of the identified outline of the target object on the screen, or the length and width of the selection identification box of the target object selected by the user. The UAV according to claim 50, wherein when the processor determines the gimbal control information according to the shooting mode of the gimbal, the processor is configured to: Get the pre-shooting duration; The pan/tilt control information is determined according to the pre-shooting duration and the shooting mode. The UAV according to claim 61, wherein when the processor determines the gimbal control information based on the pre-shooting duration and the shooting mode, the processor is configured to: When the shooting mode is horizontal and vertical switching shooting, the respective corresponding times of pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting are determined according to the pre-shooting duration; The pan/tilt control information is determined based on the respective corresponding times of the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The UAV according to claim 62, characterized in that when the processor determines the corresponding times for pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting according to the pre-shooting duration, the processor uses At: Determine the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; Determine the second preset time period in the preset shooting duration information as the time corresponding to vertical rotation and horizontal switching shooting; Determine the third preset period in the preset shooting duration information as the time corresponding to horizontal shooting; The first preset period, the second preset period and the third preset period constitute the preset shooting duration. The UAV according to claim 50, wherein when the processor determines the gimbal control information according to the shooting mode of the gimbal, the processor is configured to: Obtain pre-flight distance information of the UAV; Based on the distance information and the shooting mode, the pan/tilt control information is determined. The UAV according to claim 50, wherein when the processor determines the gimbal control information according to the shooting mode of the gimbal, the processor is configured to: Obtain the proportion information of the target object in the picture; The pan/tilt control information is determined based on the proportion information and the shooting mode. The drone according to claim 50, wherein the shooting mode includes at least any one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, and preset angle shooting. The UAV according to claim 49, characterized in that the processor is configured to: A corresponding photographed video is generated based on the content photographed by the image acquisition device. The UAV according to claim 67, wherein the processor is configured to: Obtain the image type of each video frame in the captured video, wherein the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image; A playback speed for displaying each of the video frames is determined based on the image type. The UAV according to claim 68, wherein when the processor determines the playback speed for displaying each video frame according to the image type, the processor is configured to: When the image type is one of a vertical image, a horizontal-to-vertical switching image, or an oblique image, determine the playback speed used to display each of the video frames as the first speed; When the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined to be the second speed, and the playback speed of each video frame in the back-end image set is determined to be the second speed. The playback speed of each video frame in the segment image set is the first speed, Wherein, the second speed is greater than the first speed. The UAV according to claim 67, wherein when the processor generates a corresponding shooting video based on the content captured by the image acquisition device, the processor is configured to: Obtain the original video, which is obtained by the image collection device based on banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the original video is roughly switched between horizontal and vertical widths, a rotation prompt icon is added to generate a target video to prompt the user to rotate the display device when watching the target video. The UAV according to claim 49, characterized in that the processor is configured to: Obtain the pre-flight trajectory determined based on the user's selection; Display the pre-flight trajectory on the map. The UAV according to claim 70, wherein when the processor displays the pre-flight trajectory on a map, the processor is configured to: Obtain the real-time location of the drone; The real-time location of the drone and the pre-flight trajectory are displayed on the map. The UAV according to claim 49, characterized in that when the processor automatically controls the pan/tilt and the image acquisition device to photograph the target object according to the pan/tilt control information, the Processor used for: The roll axis on the pan/tilt is controlled according to the pan/tilt control information, so that the image acquisition device reaches a corresponding shooting mode, and the shooting operation is performed based on the achieved shooting mode. The UAV according to claim 49, characterized in that the processor is configured to: Obtain the original video, which is obtained by the image collection device based on banner shooting, vertical shooting, and horizontal and vertical switching shooting; The original video is sent to the control terminal, so that the control terminal is used to generate a target video, and the target video is generated based on the original video. A control terminal, characterized in that the control terminal is used to control an unmanned aerial vehicle, and the unmanned aerial vehicle includes a pan/tilt for carrying an image acquisition device; the control terminal includes: Memory, used to store computer programs; A processor configured to run a computer program stored in the memory to: Display drone trajectory selection controls and gimbal control controls; Generate a pre-flight trajectory of the drone based on the user's operation of the drone trajectory selection control, and the pre-flight trajectory is used to control the drone; PTZ control information is generated based on the user's operation of the PTZ control control, and the PTZ control information is used to control the PTZ and the image acquisition device to perform shooting operations on the target object; The pre-flight trajectory and the gimbal control information are sent to the UAV to automatically control the UAV. The control terminal according to claim 75, characterized in that when the processor displays the drone trajectory selection control and the pan/tilt control control, the processor is configured to: Display the drone trajectory selection control; After obtaining the user's operation on any drone trajectory selection control, the pan/tilt control control is displayed to obtain the user's operation on the pan/tilt control control. The control terminal according to claim 75, wherein when the processor generates PTZ control information based on the user's operation of the PTZ control control, the processor is configured to: Based on the user's operation of the gimbal control control, display all shooting modes that the gimbal can achieve; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The control terminal according to claim 75, wherein when the processor generates PTZ control information based on the user's operation of the PTZ control control, the processor is configured to: Based on the user's operation of the gimbal control control, display a shooting mode that matches the pre-flight trajectory of the drone; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The control terminal according to claim 75, wherein when the processor generates PTZ control information based on the user's operation of the PTZ control control, the processor is configured to: Based on the user's operation of the pan/tilt control control, display a shooting mode that matches the target object; Determine the shooting mode of the gimbal in response to the user's operation; The pan-tilt control information is determined according to the shooting mode of the pan-tilt. The control terminal according to claim 79, wherein when the processor displays a shooting mode matching the target object, the processor is configured to: Obtain the length and width of the target object on the screen; Based on the length and width of the target object on the screen, a shooting mode recommended for the user that matches the target object is displayed. The control terminal according to claim 80, characterized in that: When the aspect ratio of the target object is greater than the first threshold, the matching shooting mode includes banner shooting; When the aspect ratio of the target object is less than the second threshold, the matching shooting mode includes vertical shooting; When the aspect ratio of the target object is greater than or equal to the second threshold and less than or equal to the first threshold, the matching shooting mode includes horizontal and vertical frame switching shooting. The control terminal according to claim 80, characterized in that: When the length of the target object is greater than the width, the matching shooting modes include banner shooting, vertical shooting, and horizontal and vertical switching shooting; When the length of the target object is less than or equal to the width, the matching shooting mode includes vertical shooting. The control terminal according to claim 80, characterized in that: The length and width of the target object on the screen include the length and width of the identified outline of the target object on the screen, or the length and width of the selection identification box of the target object selected by the user. The control terminal according to claim 77, wherein when the processor determines the PTZ control information according to the shooting mode of the PTZ, the processor is configured to: Get the pre-shooting duration; The pan/tilt control information is determined according to the pre-shooting duration and the photography mode of the pan/tilt. The control terminal according to claim 84, wherein when the processor determines the pan/tilt control information based on the pre-shooting duration and the pan/tilt shooting mode, the processor is configured to: When the shooting mode is horizontal and vertical switching shooting, the respective corresponding times of pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting are determined according to the pre-shooting duration; The pan/tilt control information is determined based on the respective corresponding times of the pan/tilt vertical shooting, horizontal/vertical switching shooting, and horizontal shooting. The control terminal according to claim 85, characterized in that when the processor determines the respective times corresponding to pan-tilt vertical shooting, horizontal and vertical switching shooting, and horizontal shooting according to the pre-shooting duration, the processor is configured to : Determine the first preset period in the pre-shooting duration as the time corresponding to vertical shooting; Determine the second preset time period in the preset shooting duration information as the time corresponding to vertical rotation and horizontal switching shooting; Determine the third preset period in the preset shooting duration information as the time corresponding to horizontal shooting; The first preset period, the second preset period and the third preset period constitute the preset shooting duration. The control terminal according to claim 77, wherein when the processor determines the PTZ control information according to the shooting mode of the PTZ, the processor is configured to: Display the distance information of the drone's pre-flight; The pan-tilt control information is determined based on the distance information and the shooting mode of the pan-tilt. The control terminal according to claim 77, characterized in that the processor is configured to: Obtain the original video from the image collection device, where the original video is obtained by the image collection device based on horizontal shooting, vertical shooting and horizontal and vertical switching shooting; A corresponding target video is generated based on the content of the original video. The control terminal according to claim 88, characterized in that the processor is configured to: Obtain the image type of each video frame in the original video, where the image type includes any one of the following: vertical image, horizontal and vertical switching image, banner image, and oblique image; A playback speed for displaying each of the video frames is determined based on the image type. The control terminal according to claim 89, wherein when the processor determines the playback speed for displaying each video frame according to the image type, the processor is configured to: When the image type is one of a vertical image, a horizontal-to-vertical switching image, or an oblique image, determine the playback speed used to display each of the video frames as the first speed; When the image type is a banner image, all banner images are divided into a front-end image set and a back-end image set, and the playback speed of each video frame in the front-end image set is determined to be the second speed, and the playback speed of each video frame in the back-end image set is determined to be the second speed. The playback speed of each video frame in the segment image set is the first speed, Wherein, the second speed is greater than the first speed. The control terminal according to claim 88, wherein when the processor generates the corresponding target video based on the content of the original video, the processor is configured to: When the original video is roughly switched between horizontal and vertical widths, a rotation prompt icon is added to generate a target video to prompt the user to rotate the display device when watching the target video. The control terminal according to claim 77, wherein the shooting mode includes at least any one of the following: banner shooting, vertical shooting, horizontal and vertical switching shooting, and preset angle shooting. The control terminal according to claim 75, characterized in that the processor is configured to: Obtain the pre-flight trajectory determined based on the user's selection; Display the pre-flight trajectory on the map. The control terminal according to claim 93, wherein when the processor displays the pre-flight trajectory on a map, the processor is configured to: Obtain the real-time location of the drone; The real-time location of the drone and the pre-flight trajectory are displayed on the map. An image display device, characterized in that it is applied to a control terminal, and the control terminal is used to control an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a pan/tilt for carrying an image acquisition device; including: Memory, used to store computer programs; A processor configured to run a computer program stored in the memory to: Obtain real-time collected images of the image collecting device; Determine the device posture of the image acquisition device and the terminal posture of the control terminal; Based on the device posture and the terminal posture, an image display posture corresponding to the real-time collected image is determined to ensure that the image picture seen by the user is in a forward direction. The image display device according to claim 95, wherein when the processor determines the image display posture corresponding to the real-time collected image based on the device posture and the terminal posture, the processor uses At: Rotation correction is performed on the real-time collected image based on the device posture to obtain the image display posture, so that the image display posture is consistent with the terminal posture. An unmanned aerial vehicle system is characterized by including: The drone described in any one of claims 49-74; A control terminal is communicatively connected to the UAV and is used to control the UAV. An unmanned aerial vehicle system is characterized by including: drone; The control terminal according to any one of claims 75-94 is connected to the drone for communication and is used to control the drone. An unmanned aerial vehicle system is characterized by including: drone; The image display device according to any one of claims 95-96, communicated with the drone, and used to obtain the video to be displayed through the drone. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 1-26. The control method of the unmanned aerial vehicle described in the item. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 27-46. The control method of the unmanned aerial vehicle described in the item. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 47-48. The image display method described in the item.

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